基于反馈线性化的船舶自动舵动态滑模控制  

Dynamical Sliding Mode Control of Ship Autopilot Based on Feedback Linearization

作　　者：石为人[1] 邹剑[1] 宗志亚[1] 

机构地区：[1]重庆大学自动化学院,重庆400030

出　　处：《船舶工程》2011年第5期50-53,共4页Ship Engineering

基　　金：国家科技部国际科技合作项目(2007DFR10420);重庆市科技攻关项目(CSTC2007AB3035;CSTC2008AB3049)

摘　　要：针对船舶自动舵的航向控制问题,结合高阶滑模和动态滑模控制的设计思想设计了一种船舶自动舵动态滑模控制器.首先设计出包含舵机特性的船舶航向控制仿射非线性系统模型,其次通过状态反馈的方法将原模型变为等价的完全可控型线性化系统,然后设计出动态滑模控制器.仿真结果表明,所设计的动态滑模控制器不仅能很好的自动跟踪设定的航向,而且能有效的抑制系统的抖振现象,达到设计目的,为研究船舶自动舵控制提供一种参考.In order to reduce the autopilot operator＇s working strength and improve the safety and economic efficiency, this paper designs a dynamic sliding mode control according to the control of ship autopilot and combining high-order sliding mode control with dynamical sliding mode control. First, it establishes the nonlinear of ship control system with autopilot steering characteristics. Second, using the feedback linearization procedure of differential geometry, an equivalent, fully controllable and linear model is derived via a homomorphism transformation. At last, a dynamic sliding mode controller is designed. The results of simulation show that the dynamic sliding mode controller can not only automatically track the goals but also effectively reduce the system chattering problem, achieving the purpose and also offering a method for the research of autopilot control.

关 键 词：船舶自动舵 反馈线性化 滑模控制 动态滑模控制 

分 类 号：U666.16[交通运输工程—船舶及航道工程]