基于Bech模型的船舶航向自抗扰控制器设计与仿真  

Active Disturbance Rejection Controller Design and Simulation for Ship Course Based on Bech’s Equation

作　　者：刘文江[1,2] 隋青美[2] 周风余[2] 胡冠山[1] 

机构地区：[1]山东交通学院信息工程系,济南250023 [2]山东大学控制学院,济南250032

出　　处：《船舶工程》2011年第6期61-64,共4页Ship Engineering

基　　金：山东省自然科学基金(Y2007G36);山东省高校科技计划项目(J11LG76);山东交通学院院基金资助项目(Z200925)

摘　　要：基于船舶非线性Bech模型提出了一种新型船舶航向控制器——高阶自抗扰控制器(ADRC),该控制器主要由三阶TD、四阶ESO和非线性状态误差反馈(NLSEF)三部分组成.设计扩张状态观测器时,采用二阶TD的滤波功能对系统输出进行噪声滤波,并用其滤波值来建立扩张状态观测器.通过航向改变、参数摄动、外界干扰的仿真试验表明,自抗扰控制器控制效果良好,具有较强的鲁棒性.In this paper,a new type of ship course controller,a high order Active disturbance rejection controller（ADRC）,is designed based on the nonlinear model of ships,or the Bech model.The controller mainly consists of three parts： three-order TD,four-order ESO and nonlinear error feedback controller.In designing ESO,the wave-filter function of the two-order TD is adopted to filter the noise in the output system,while the value of the noise-filter is used to establish ESO.Emulation lab research on the course change,parameter stir and environment disturbance shows that active disturbance rejection controller is of good controlling effect and fairly strong robustness.

关 键 词：航向控制 Bech模型 高阶ADRC 鲁棒性 

分 类 号：U664.82[交通运输工程—船舶及航道工程] TP273[交通运输工程—船舶与海洋工程]