基于新型扩张干扰观测器的船舶航向滑模控制  

Ship Course Sliding Mode Control System Based on a Novel Extended State Disturbance Observer

作　　者：李芸[1,2] 白响恩[1,2] 肖英杰[1,2] 

机构地区：[1]上海海事大学商船学院 [2]航运仿真技术教育部工程研究中心,上海201306

出　　处：《上海交通大学学报》2014年第12期1708-1713,1720,共7页Journal of Shanghai Jiaotong University

基　　金：上海市科委2009年度创新行动计划项目(09170502000);上海市教育委员会科研创新项目(11CXY49)资助

摘　　要：采用非线性船舶运动模型,利用滑模控制对参数变化、扰动不敏感性、响应速度快和容易实现的特点,研究船舶航向变化的自动运动控制.针对外界海浪的干扰,借鉴非线性干扰观测器的设计原理,运用扩张状态观测器对状态干扰的抑制性,设计出新型的扩张干扰观测器,补偿系统的外部干扰,减少滑模控制的抖动影响.探讨了系统的稳定性、船舶转向的可靠性和削弱航向变化时的波动性.最后,通过对船舶转向控制系统的仿真,验证了新型干扰器对干扰具有良好抑制性能,能对船舶航向进行稳定控制.Based on nonlinear model for ship motion,making use of the characteristic of sliding mode control,the automatic motion control on ship course change was studied.In view of the interference of waves,and considering the design principles of nonlinear disturbance observer and the characteristics of interference suppression for extended state observer,a novel extended state disturbance observer was designed,which can compensate for the external interference and reduce the shake impact of sliding-mode control.The analysis shows that the system ensures the reliability of ship course system and weakens the volatility about course change.The simulation verifies that the system can achieve stable control of the ship course control.

关 键 词：滑模控制 干扰补偿 扩张干扰观测器 非线性船舶模型 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]