动力定位船舶纵向运动的反步法控制器设计  

Backstepping Controller Design for Dynamic Positioning Ship of Vertical Motion

作　　者：张晓兰[1] 王钦若[1] 时丽丽[1] 

机构地区：[1]广东工业大学自动化学院

出　　处：《自动化与信息工程》2011年第5期1-4,共4页Automation & Information Engineering

基　　金：广东省重大科技专项(2009A080202006);广东省自然科学基金资助项目(9151009001000021);广东省教育部产学研合作专项资金资助项目(2009B090300341)

摘　　要：本文研究了动力定位系统的控制策略,针对船舶动力定位系统模型的非线性特性,考虑到风浪流等外部环境扰动对船舶引起的恒值干扰及其不确定性,基于带有未知定常扰动的三自由度非线性船舶水面运动数学模型,应用自适应反步法设计船舶动力定位控制律,将Lyapunov函数选取和控制器设计相结合的回归设计方法,并在MATLAB软件环境下通过仿真研究验证模型和控制策略的有效性。在计算机仿真研究中,以26:1比例建造的2800mm×762mm×498mm船模为设计实例。This paper discusses the control strategy of dynamic positioning system. For the nonlinear characteristics of dynamic positioning system model, the paper takes constant interference of ship and its uncertainty caused by external disturbances such as the wind, waves and current into account. Based on the stationary disturbance with unknown three degrees of freedom nonlinear ship motion mathematical surface model, we apply adaptive backstepping control law for the nonlinear dynamic positioning. The selection of Lyapunov function and the controller design are combined with regression. The control strategy and mathematical model are proved to be effective with the MATLAB simulation. The design example is a 2800mm×762mm×498mm ship model with 26：1 ratio.

关 键 词：动力定位 非线性 反步法 船舶纵向运动 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]