摘要
通常采用螺旋桨和舵来控制 船舶在水平面的三个自由度运动,属于欠驱动控制,其轨迹跟踪控制器的设计具有很大的难度。论文将欠驱动水面船舶的轨迹跟踪问题解耦为转首运动控制和纵向运动控制这两个子控制系统,采用积分视线法确定期望首向角和期望纵向速度,通过Lyapunov稳定性理论证明了控制系统的稳定性;采用自抗扰控制技术中的扩张状态观测器设计首向控制器和纵向运动控制器。通过静水和波浪中的直线轨迹跟踪仿真试验,验证了设计的控制器的有效性。
Propeller and rudder on the ship are commonly used to control its three degrees-of-freedom motion in the horizontal plane.In such an underactuated control the design of controllers is difficult.In this paper,trajectory tracking of an underactuated surface ship decouples into two sub-systems of motion control,i.e.,the yaw motion control and the longitudinal motion control.Expected heading angle and expected longitudinal velocity is determined by using an integral line-of-sight guidance law,and stability of the system is proved by the Lyapunov stability theorem.Both heading and longitudinal motion controllers are designed by using the extended state observer of active disturbance rejection control technology.Through the simulation of straight-line trajectory tracking in calm water and in waves,availability of designed controllers is verified.
作者
刘义
曾智华
邹早建
封培元
范佘明
LIU Yi;ZENG Zhihua;ZOU Zaojian;FENG Peiyuan;FAN Sheming(Shanghai Key Laboratory of Ship Engineering,Marine Design and Research Institute of China,Shanghai 200011,China;School of Naval Architecture,Ocean and Civil Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)
出处
《中国造船》
EI
CSCD
北大核心
2021年第1期133-144,共12页
Shipbuilding of China
基金
中国博士后科学基金项目(编号:2019M651596)。
关键词
欠驱动船舶
轨迹跟踪
积分视线法
自抗扰控制
扩张状态观测器
underactuated ship
trajectory tracking
integral line-of-sight method
active disturbance rejection control
extended state observer
