船舶航向变结构控制器的设计与仿真  

Design and Simulation of Ship Course Sliding Mode Variable Structure Control

作　　者：吴俊鹏[1] 王猛[2] 

机构地区：[1]武汉大学电气工程学院,武汉430072 [2]哈尔滨工业大学航天学院控制科学与工程系,哈尔滨150001

出　　处：《自动化与仪表》2014年第12期30-33,共4页Automation & Instrumentation

摘　　要：船舶运动具有大惯性、大时滞、非线性等特点,航速及装载变化会产生模型的参数摄动,航行中受到风浪流的扰动等都会使船舶动态产生不确定性。为此该文提出并设计了船舶航向变结构控制器,通过仿真验证,这种变结构控制器相对于PID控制器有更强的鲁棒性,同时提出一些削弱抖振的方法,在对系统鲁棒性影响不大的基础上,进一步提高了滑模控制器的控制性能。Because the movement of the ship has a high inertia,strong time lag,non-linearity characteristics,model parameter perturbations which was caused by ship speed and load changes;wind,wave and current disturbances also can make uncertainty of ship dynamic in Navigation.This paper analyzes the characteristics of ship course control,a special kind of controlled objects,and thus the ship＇s course sliding mode control technology was put forward and the ship＇s course variable structure control system was designed.Through the simulation this controller has more robust than the traditional PID control.Also raised some weakening chattering method,based on has little effect on the robustness of the system,and further improve the control performance of the sliding mode controller.

关 键 词：船舶运动数字模型 航向控制 PID控制 滑模变结构控制 

分 类 号：TP294[自动化与计算机技术—检测技术与自动化装置]