基于反演自适应动态滑模的气垫船航向控制  

Heading Control of Air Cushion Vehicles Based on Backstepping Adaptive Dynamic Sliding Mode

作　　者：陈涛[1] 丁福光[2] 吴静[2] 

机构地区：[1]海军驻上海江南造船(集团)有限责任公司军事代表室,上海200125 [2]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《计算机仿真》2013年第5期31-35,共5页Computer Simulation

摘　　要：针对全垫升气垫船运动非线性明显、可操纵性差,为改善操控水平,能够准确地按给定航向航行,设计了反演自适应动态滑模的航向控制算法。建立了三自由度全垫升气垫船平面运动数学模型,并给出了航向非线性控制模型。将反演方法与动态滑模相结合,设计新型切换函数,以实现航向的平滑、无抖振控制。最后,在不同外界扰动作用下进行了仿真,试验结果表明,所设计航向控制算法能够提高全垫升气垫船航向的控制精度,具有自适应性强、响应速度快、稳定性好等特点。For the awful motion nonlinear characteristics and the poor manipulation of air cushion vehicles, to improve the maneuvering, the heading controller based on backstepping adaptive dynamic sliding mode was proposed. Three-freedom motion mathematic mode of the vehicles was established, and the nonlinear heading control mode was obtained. In the paper, the backstepping method and the adaptive dynamic sliding mode were used together, and a new switch function was designed to achieve the smooth heading control. At last, simulations were done with kinds of harsh environments. Results show that the proposed controller can promote the accuracy of heading control with adaptability, fast response and good stability.

关 键 词：气垫船 航向控制 反演法 滑模 

分 类 号：U661.33[交通运输工程—船舶及航道工程]