用于船舶主动式升沉补偿的自抗扰控制方法

Research on ADRC applied to active heave compensation control system for ship

针对主动式升沉补偿控制系统在工作过程中存在的非线性、时滞性以及干扰性等造成系统的稳定性控制难度大的问题,为提高主动式升沉补偿控制系统的控制精度与稳定性,将自抗扰控制技术(ADRC)应用于船舶升沉补偿系统并进行数值仿真研究。对主动式升沉补偿控制系统进行数学建模以及自抗扰控制算法设计,并针对具有干扰和时滞环节的控制系统,将ADRC与传统的PID控制进行仿真效果对比,验证自抗扰算法的良好性能。最后以6级海况风浪流全耦合环境作为研究对象得出一套自抗扰参数组合,并将该套参数应用于多种海况环境进行仿真分析。仿真结果表明,不同耦合环境和不一样的海况环境下,ADRC使用同样参数下均取得了满意的升沉补偿控制效果,展现出很好的适应性能与鲁棒性。

In order to improve the control accuracy and stability of the active heave compensation control system,the automatic disturbance rejection control technology(ADRC)is applied to the ship heave compensation system and the numerical simulation is carried out.The active heave compensation control system is mathematically modeled and the ADRC algorithm is designed.For the control system with interference and time delay,the simulation results of ADRC and traditional PID control are compared to verify the good performance of ADRC algorithm.Finally,taking the six level sea state wind wave current fully coupled environment as the research object,a set of ADRC parameter combination is obtained,and the set of parameters are applied to a variety of sea state environments for simulation analysis.The simulation results show that under different coupling environments and different sea conditions,ADRC has achieved satisfactory heave compensation control effect under the same parameters,showing good adaptability and robustness.