非线性自抗扰控制器在船舶减摇鳍系统中的应用

Nonlinear Auto-disturbance Rejection Controller for Fin Stabilizer System

为了保证减摇系统在各种工况下都能获得理想的减摇效果,基于自抗扰控制(ADRC)方法进行了减摇控制系统的研究.针对船舶横摇运动的非线性与不确定性,采用扩张状态观测器对船舶横摇运动姿态进行估计,利用非线性控制策略提高控制品质与鲁棒性,完成了非线性状态反馈减摇控制系统的设计.对ADRC减摇系统进行了数字仿真,仿真结果表明,所设计的ADRC减摇系统减摇效果显著,鲁棒性好,适应性强.

Fin stabilizer system was designed using the technique of auto-disturbance rejection controller(ADRC) to guarantee good roll reduction in different operational states. Considering the nolinearity and uncertainty of roll, the extended state observer (ESO) is used to estimate the roll postures of ship. The ADRC fin stabilizer system consists of an ESO and a nonlinear controller, which enhance control effect and robust of the system. Digital simulation results showed that the system has obvious efficiency, good adaptability and robustness.