深海船舶动力定位的动态面复合自抗扰控制

Dynamic Surface Compound Active-disturbance Rejection Control for Dynamic Positioning of Deep-ocean Vessels

以自抗扰控制为基础,针对其非线性状态误差反馈控制律和扩张状态观测器分别引入动态面控制及线性自抗扰控制思想进行适应性改造,设计出一种运用于船舶动力定位的动态面复合自抗扰控制器。改进的非线性状态误差反馈控制律是为了提高系统对扰动的估计能力,线性扩张状态观测器是为了在估计扰动的同时对参数的选取进行简化。仿真结果表明,改进后的动态面复合自抗扰控制器有更好的抗干扰能力,对目标值的调节时间更快,鲁棒性更强,提升了船舶动力定位的精准度。

Based on the active-disturbance rejection control,the dynamic surface control and the linear active-disturbance rejection control,then the non-linear state error feedback control law and the extended state observer were reformed to design a dynamic surface compound active-disturbance rejection controller for dynamic positioning of vessels.The improved non-linear state error feedback control law is to enhance the estimation ability to disturbance,while also designs the linear extended state observer to select parameters easily.Simulation results illustrate that the improved dynamic surface compound active-disturbance rejection controller can significantly improve the ability of disturbance rejection,achieve the target more quickly,and provide much better robustness.The dynamic surface compound active-disturbance rejection controller can significantly improve the accuracy of dynamic positioning.