面向多源干扰的动力定位船舶精细抗干扰控制

Elegant anti-disturbance control of dynamic positioning in the presence of multi-source disturbance

针对动力定位船舶非线性模型以及多源干扰导致的定位不精确问题,考虑不同干扰的特点及其在非线性模型中的响应特性提出一种基于无源精细化扩张状态观测器的鲁棒自适应抗扰控制方法.首先,建立动力定位船舶数学模型和多源干扰模型,并根据系统模型设计无源精细化扩张状态观测器实时估计船舶状态及其所受的多源干扰;然后,在此基础上引入动态面控制技术,在控制律中设计鲁棒自适应项以补偿估计误差;最后,证明该闭环级联系统所有误差信号一致最终有界.对一艘动力定位船舶进行仿真实验,实验结果表明,该方法在干扰估计和状态估计方面均优于传统扩张状态观测器,验证了该控制方法的有效性.

Aiming at the problem of inaccurate positioning caused by nonlinear models and multi-source disturbance of dynamic positioning(DP)vessel models,a robust adaptive anti-disturbance control method based on a passive elegant extended state observer(PEESO)is proposed,which takes into account the characteristics of different disturbances and their responses in the nonlinear model.Firstly,the DP vessel model and multi-source disturbance model are established,and a PEESO is designed to estimate the vessel states and multi-source disturbance in real time according to the system model.Then,based on the model and estimated values of vessel state and disturbance,the dynamic surface control technique is introduced and the robust adaptive term is designed in the control law to compensate the estimation error.Finally,it is proven that all error signals of the DP closed-loop cascade system are consistent and ultimately bounded.The simulation results show that the proposed method is superior to the traditional ESO in disturbance estimation and state estimation,which verifies the effectiveness of the proposed control method.