船舶直线航迹预测变结构控制  

Straight-line tracking control of ships based on predictive variable structure control

作　　者：夏极[1] 胡大斌[1] 胡锦晖[1] 肖剑波[1] 

机构地区：[1]海军工程大学船舶与动力工程学院,湖北武汉430033

出　　处：《舰船科学技术》2010年第7期41-45,共5页Ship Science and Technology

摘　　要：船舶直线航迹系统受二阶不可积非完整约束,具有不完全驱动的特性,控制一直是难点。本文先采用变量重定义方法,将系统控制转化为对完全驱动系统的控制,证明了转变后系统的稳定性能保证原船舶直线航迹控制系统的稳定性;然后对新系统进行非线性连续预测变结构控制的设计。仿真结果表明,该方法具有良好的控制性能,使航向和横向位移同时稳定,即使系统航迹全局收敛,且在系统存在参数摄动和外界干扰时,同样具有良好的控制性能,控制具有强鲁棒性。The ship straight-line tracking system is restricted by a nonintegrable second order nonholonomic constraint,so it has underactuated characteristic and is difficult to control.In this paper,first the control of the ship straight-line tracking was converted to the control of an actuated system by the output variable redefined method.The stabilization of ship straight-line tracking system,which can be ensured by the stabilization of the new system,was proved.Then the nonlinear continuous predictive variable structure control method was used to control the new system.The simulation showed the validity of this method,which can stabilized the course and sideslip synchronal,that is,the stabilization of the ship tracking system.Moreover the control performance was excellent even the system was affected by the parameter uncertainty and disturbance,the results show the strong robustness of this method.

关 键 词：预测变结构 直线航迹 船舶 不完全驱动系统 

分 类 号：TP273[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]