滑模预测离散变结构控制用于船-舵伺服系统

SLIDING MODE PREDICTION-BASED DISCRETE VARIABLE STRUCTURE CONTROL AND ITS APPLICATION TO SHIP AUTOPILOT

提出基于滑模预测思想的离散变结构控制设计新思路,以不确定系统的名义模型作为滑模预测模型,以理想趋近律作为参考滑模轨迹,将预测控制中滚动优化、反馈校正的思想引入离散准滑模变结构控制系统的设计。将理论成果应用于船一舵伺服系统设计了航向自动舵,仿真结果表明,该文方法可有效消除抖振现象,设计的航向控制器可以快速准确地跟踪设定航向,并且能够有效抑制参数摄动和外界风浪干扰对船舶运动的影响,具有很强的鲁棒性。

This paper presents a new approach to the variable structure control design for uncertain discrete-time systems based on the 'sliding mode prediction' algorithm proposed here. The algorithm uses a nominal model to predict future sliding mode value, conducts receding optimization, makes feedback correction, and uses a ideal reaching law being the reference sliding mode trajectory. The new method is applied to the ship steering autopilot design. Simulation results show that the controller designed here can track a desired course well, eliminate chattering effectively and exhibit very good performance robustness.