摘要
船舶运动具有大惯性、大时滞、非线性等特点,航速及装载变化会产生模型的参数摄动,航行中受到风浪流的扰动等都会使船舶动态产生不确定性。为此该文提出并设计了船舶航向变结构控制器,通过仿真验证,这种变结构控制器相对于PID控制器有更强的鲁棒性,同时提出一些削弱抖振的方法,在对系统鲁棒性影响不大的基础上,进一步提高了滑模控制器的控制性能。
Because the movement of the ship has a high inertia,strong time lag,non-linearity characteristics,model parameter perturbations which was caused by ship speed and load changes;wind,wave and current disturbances also can make uncertainty of ship dynamic in Navigation.This paper analyzes the characteristics of ship course control,a special kind of controlled objects,and thus the ship＇s course sliding mode control technology was put forward and the ship＇s course variable structure control system was designed.Through the simulation this controller has more robust than the traditional PID control.Also raised some weakening chattering method,based on has little effect on the robustness of the system,and further improve the control performance of the sliding mode controller.
出处
《自动化与仪表》
北大核心
2014年第12期30-33,共4页
Automation & Instrumentation
关键词
船舶运动数字模型
航向控制
PID控制
滑模变结构控制
ship motion mathematical model
ship course control
PID control
sliding mode variable structure control（VSC）
