基于干扰观测器的舰船运动模拟器非线性控制  

Nonlinear Control of Ship Motion Simulator Based on Disturbance Observer

作　　者：皮阳军[1] 王宣银[1] 李强[1] 程佳[1] 

机构地区：[1]浙江大学流体传动及控制国家重点实验室,杭州310027

出　　处：《机械工程学报》2010年第10期164-169,共6页Journal of Mechanical Engineering

基　　金：国家自然科学基金(50375139);新世纪优秀人才支持计划(NCET-04-0545)资助项目

摘　　要：舰船运动模拟器在使用中会受到来自被测设备的干扰力,该干扰力对模拟器的精确控制存在较大影响。针对此问题,根据系统动力学模型,提出一种自适应干扰观测器,在线观测模拟器所受干扰力,并在控制器中进行补偿。分析液压驱动的舰船运动模拟器在精确控制中的困难,使用鲁棒控制器克服参数不确定性和未建模不确定性引起的干扰。利用反步法推导出综合非线性控制器,并通过Lyapunov方法证明了该控制器是渐近稳定的。试验证明,该控制器在存在较大外干扰情况下能够平稳运行,且与普通比例积分微分(Proportional integration differential,PID)算法相比,有效地提高了系统的动态跟踪性能。Ship motion simulator is subjected to disturbance caused by the tested equipment,which affects the control accuracy of the simulator.Through analysis of the dynamics of the system,an adaptive disturbance observer is designed to estimate the disturbance online,and then compensation is made in the controller.The difficulties of the hydraulically controlled ship motion simulator in accurate control are analyzed,and a robust controller is designed to overcome the disturbance caused by parametric uncertainty and unmodeled uncertainty.The backstepping method is adopted to develop the integrated nonlinear controller.The controller is proven to be asymptotically stable via Lyapunov analysis.The experiment results performed with the ship motion simulator demonstrate the effectiveness of the approach.And the performance of the system is improved in comparison to using a proportional integration differential（PID） controller.

关 键 词：运动模拟器 并联平台 6自由度 轨迹跟踪 干扰观测 补偿 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]