船舶航向反步自适应控制  

Adaptive backstepping control for ship course

作　　者：孙宏放 彭秀艳 王金朋[1] 王禹[1] 

机构地区：[1]哈尔滨工程大学船舶工程学院,哈尔滨150001

出　　处：《沈阳工业大学学报》2013年第4期456-460,共5页Journal of Shenyang University of Technology

基　　金：黑龙江省博士后基金资助项目(LBH-Z10192)

摘　　要：针对反步控制算法控制参数多、难整定的问题,经过理论分析提出基于期望指标的二阶系统参数整定方法.将系统变换为二阶系统形式,在选取闭环系统的自然频率、阻尼、闭环系统调节时间与超调量后,确定系统闭环极点,由极点整定了两个关键控制参数,积分增益取值参考PID控制器中积分时间参数的方法整定.在海浪干扰和船舶模型参数出现很大摄动的情况下,对所设计控制器进行了仿真试验,结果表明,所设计的控制器具有很好的鲁棒性,提出的整定控制器参数方法是可行的.In order to solve the problem that the backstepping control algorithm has many control parameters and is difficult for tuning, a parameter tuning method for second order system based on the expectation index was proposed through the theoretical analysis. The system was converted into the form of second order system. After selecting the natural frequency, damping, adjusting time and overshoot volume of closed-loop system, the closed-loop poles of the system were determined, and two key control parameters were tuned by the poles. The integral gain values were tuned with referring the integral time parameter method in PID controller. Under the condition of wave interference and large ship model parameter perturbation, the simulation tests were performed for the designed controller. The results show that the designed controller has good robustness, and the proposed method of tuning controller parameters is feasible.

关 键 词：船舶航向控制 反步法 自适应控制 未知参数非线性模型 非线性控制 恒值干扰 积分器 参数整定 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]