基于NFTSM的吊舱推进器与减摇鳍联合减摇控制

Joint Anti-Rolling Control of Pod Propeller and Fin Stabilizer Based on NFTSM

以同时装备吊舱推进器和减摇鳍船舶为研究对象,进行横摇/航向联合控制的研究。首先建立吊舱推进船舶四自由度(纵荡、横荡、横摇和艏摇)运动非线性数学模型,并进行仿真试验验证模型的准确性。其次针对船舶运动系统具有非线性、强耦合、多变量的特点,设计基于非奇异快速终端滑模(NFTSM)的POD船舶横摇/航向联合控制器;并且针对海浪干扰、模型参数不确定且上界未知的情况,设计自适应律对不确定项进行估计。最后通过构造Lyapunov函数证明系统的稳定性。不同海况下的仿真结果表明,设计的控制器在保证航向控制精度的同时取得了良好的减摇效果,且鲁棒性较强。

Taking ship equipped with podded propulsors and fin stabilizer as the research object,the roll/heading joint control is studied.Firstly,a four degree of freedom(pitch,sway,roll and yaw) nonlinear mathematical model of podded propulsion ship is established,and the accuracy of the model is verified by simulation test.Secondly,aiming at the nonlinear,strong coupling and multivariable characteristics of ship motion system,a podded ship roll/yaw joint controller based on nonsingular fast terminal sliding mode(NFTSM) is designed,and an adaptive law is designed to estimate the uncertainties in the case of wave disturbance,uncertain model parameters and unknown upper bound.Finally,the stability of the system is proved by constructing Lyapunov function.The simulation results under different sea conditions show that the designed controller not only ensures the heading control accuracy,but also achieves good anti rolling effect with strong robustness.