带有推进器故障的船舶动力定位系统的鲁棒滑模容错控制

Robust sliding mode fault-tolerant control for dynamic positioning system of ships with thruster faults

由于海洋工作环境具有复杂性和不可预测性,船舶动力定位系统的可靠性一直备受关注.针对带有推进器故障的船舶动力定位系统的鲁棒容错控制问题展开研究.首先,建立更一般且统一的推进器故障模型,该模型能全面描述推进器失效、卡死、中断3种故障情形;然后,设计一种不依赖故障检测模块(FDI)和故障信息上下界的自适应滑模控制器,其中自适应机制用于在线估计故障信息和未知外部扰动的上界,基于李雅普诺夫稳定性理论和滑模控制理论,所设计的自适应滑模控制器能保证船舶动力定位系统在有推进器故障发生和海洋环境外部有界扰动存在情况下的所有信号一致有界;最后,在一艘过驱动船舶模型上进行仿真,其结果验证了所设计方法的有效性.

Due to the complexity and unpredictability of sea environment,the reliability of dynamic positioning systems of ships has been paid much attention.A robust fault-tolerant control problem for the dynamic positioning system of ships with thruster faults is studied.Firstly,a uniform thruster fault model is established to universally describe different thruster fault cases such as loss-of-efFectiveness,stuck and outage.Then,without requiring any fault detection and isolation(FDI)mechanism and the upper and lower bounds of the fault information,an adaptive sliding mode controller is designed where the fault information and unknown external disturbances are estimated online through the adaptive mechanism.With the help of the Lyapunov stability theory and sliding mode control theory,the uniformly ultimate boundedness of all signals in the closed-loop dynamic positioning system of ships can be guaranteed by using the proposed control law.Finally,the simulation is carried out through an overactuated ship model and the results demonstrate the effectiveness of the proposed design control method.