滑模控制船舶动力定位控制系统研究

Design of ship dynamic positioning control system based on sliding model control

为了提高动力定位船舶或作业平台在复杂海况条件下的定位精度,对动力定位船舶的控制器进行设计研究,通过建立简化的船舶三自由度数学模型,采用滑模变结构控制方法进行控制器的设计,并基于李雅普诺夫函数进行稳定性分析,通过软件进行仿真验证,仿真结果表明,在存在外界环境干扰的条件下,所设计的滑模控制器能够较好的保持系统的稳定性和鲁棒性,控制性能良好,对进一步研究动力定位船舶的控制系统有一定的参考意义。

To improve the accuracy of dynamic positioning ship or operating platform in the complicated sea conditions, the controller of Dynamic Positioning System（DPS） is designed. Ship motion mathematical model with three degrees of freedom is set up. The method of Sliding Model Control（SMC） is adopted to design the controller. And the function of Lyapunov is used to analyze the stability of the controller. At last, one dynamic positioning ship is used as the simulation object. Under the condition of the interference of the external environment, the results of simulation show that the sliding model controller has good ability of control performance, as well as the stability and robustness. The controller is considered as a useful reference for the Dynamic Positioning System.