基于模糊滑模理论的水面航行器减摇控制

Surface Vehicle Roll Damping Control Based on Fuzzy-Sliding Mode Theory

水面航行器运动控制系统中存在很多不确定因素,难以对其建立精确的数学模型,针对这一特点,将模糊滑模算法运用到水面航行器减摇控制中,使控制器保持滑模算法对参数摄动和外界扰动不灵敏、反应迅速和鲁棒性强的特点。同时,引入模糊控制对滑模控制器的抖振进行优化,减弱对舵机和鳍机的机械磨损。在充分考虑舵角和航速等约束条件下,设计分离型舵鳍联合减摇模滑模控制器,进行Matlab仿真对比研究。仿真结果表明:设计的模糊滑模控制器能使船舶具有良好的航向保持和减摇效果,同时,系统抖振相比单独使用滑模控制器明显减弱。

There are many uncertain factors in the surface vehicle motion control system, so it is difficult to establish accurate mathematical model. Aiming at the characteristics, the fuzzy sliding mode algorithm is applied to the surface vehicle anti-roll control, so that the controller maintains the sliding mode algorithm insensitive to parameter perturbation and external disturbance, rapid response and strong robustness. At the same time, fuzzy control is introduced to optimize the chattering of the sliding mode controller and reduce the mechanical wear of the steering gear and fin gear. With full consideration of constraints such as rudder angle and ship speed, a sliding mode controller with separate rudder-fin combined anti-rolling mode is designed, and a comparative study on Matlab simulation is carried out. The simulation results show that the designed fuzzy sliding mode controller can not only achieve good course keeping and anti-rolling effect, but also reduce the chattering of the system obviously compared with the sliding mode controller alone.