基于新型滑膜控制的船舶航向自动舵设计  

Autopilot Designed for Ship Course Based on New Sliding Mode Control

作　　者：赵越[1] 王仁强[1] 缪克银[1] 

机构地区：[1]江苏海事职业技术学院航海技术学院,南京211170

出　　处：《船舶工程》2015年第9期58-62,共5页Ship Engineering

基　　金：中国交通教育研究会课题基金(1402-183);江苏高校品牌专业建设工程资助项目(PPZY2015B177)

摘　　要：设计一种新型准滑动模态船舶自动舵,该自动舵可以克服模型参数未知和外界扰动。为克服滑模面切换带来的抖振,在指数趋近律的基础上,提出一种新型的双曲正弦函数的指数趋近律,使轨迹的运动速度与轨迹和滑模面的距离相关联,实现自适应调节,使切换平缓;同时利用状态观测器对船舶模型参数及外界干扰进行观测实现补偿;最后利用Backstepping方法设计船舶航向滑模控制器。通过对一具体船舶航向控制器的仿真验证上述控制器性能优越。Ship autopilot is designed based on new quasi-sliding mode, which can overcome the untcnown model parameters and external disturbances. To overcome the buffeting resulted from sliding surface switch, a new hyperbolic sine function exponential reaching law is designed on the basis of exponential reaching law, which makes the trajectory velocity associated with the distance to the sliding surface, so as to adjust adaptively and switching gently; While ship model parameters and external disturbances are observed in order to achieve effective compensation through taking advantage of the state observer method. Finally, ship course sliding mode controller is designed by using Backstepping method. A specific ship course control simulation is carried out to verify the effectiveness of the controller.

关 键 词：船舶自动舵 滑模控制 趋近律 观测器 BACKSTEPPING 

分 类 号：U666.153[交通运输工程—船舶及航道工程]