基于嵌入积分滑模策略的船舶运动控制  

Ship Motion Control Based on Nested Integral Sliding Mode Strategy

作　　者：彭秀艳[1] 胡忠辉[1] 贾书丽[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《控制工程》2014年第1期49-52,共4页Control Engineering of China

基　　金：国家自然科学基金(41306086)

摘　　要：针对船舶模型的不确定和海浪干扰问题,为实现船舶航向控制,提出了一种嵌入积分滑模控制方法,此方法结合了积分滑模和嵌入滑模的控制思想。积分滑模是用来减小滑模函数的增益,嵌入滑模用来补偿系统匹配和不匹配的扰动。并利用基于极点配置的状态估计方法实现了对高频海浪扰动的滤波。最后进行仿真试验,结果表明设计的控制器具有船舶操纵的良好动态特性,具有超调小鲁棒性强的优点,更适合船舶航向控制的工程要求。According to the uncertainties problem of the ship model and the wave disturbances problem, a nested integral sliding mode control is proposed in order to achieve the tracking control of ship course. The control strategy employs integral sliding mode and nested sliding mode concepts. This controller has the robustness of nested sliding mode against matched and unmatched perturbations, and the capability of integral sliding mode to reduce the sliding functions gains. Based on the pole-placement algorithm, a state estimator is de- signed for filtering the high-frequency wave-induced disturbance. The simulation results illustrates that the design controller has strong robustness and good dynamic performance with small overshooting. Besides, it meets the engineering requirement of ship course control.

关 键 词：船舶运动控制 状态估计 积分滑模 嵌入滑模 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]