基于积分逆推法的船舶航向非线性鲁棒控制  

Nonlinear Robust Control for Ship Steering System Based on Integral Backstepping Method

作　　者：关巍[1] 张显库[1] 王新屏[1] 

机构地区：[1]大连海事大学航海动态仿真与控制实验室,辽宁大连116026

出　　处：《中国航海》2009年第3期66-70,共5页Navigation of China

基　　金：国家自然科学基金项目(60504017)

摘　　要：为克服船舶航向控制系统中传统逆推设计方法因不确定恒值干扰易产生静差及控制器参数调整过于复杂等问题,提出了一种把闭环增益成形算法与带积分项的逆推方法相结合的船舶航向控制器设计方案,由此将逆推方法设计出的控制器需要整定的参数由原来的4个降为1个,且这个参数具有明显的物理意义。通过Matlab仿真软件进行仿真试验,结果表明设计出的控制器能够消除海风产生的静差,对船舶航向具有良好的控制效果,且对一定范围内的模型摄动具有较强的鲁棒性。该控制器设计方案结构简单,物理意义明确。To overcome disadvantages of traditional backstepping method, the constant disturbance causing static error and the complexity of the arguments tuning, a control scheme, combining integral backstepping and closed-loop gain shaping algorithm for ship steering systems is proposed. Through the control scheme, the number of tuning parameters of nonlinear backstepping controller are reduced from 4 to 1, and the parameter has a definite physical meaning. Analysis and simulation results with Matlab show that the controller designed on the scheme can eliminate static error caused by sea wind, and has very good performance of steering control and a strong robustness under the conditions of model disturbances and environmental perturbation. The design scheme of the controller has the advantages of simple structure and obvious physical meaning.

关 键 词：船舶、舰船工程 船舶航向系统 积分逆推方法 非线性 鲁棒性 闭环增益成形 

分 类 号：TP214.2[自动化与计算机技术—检测技术与自动化装置] U661.33[自动化与计算机技术—控制科学与工程]