Disturbance Observer Based Sliding Mode Controller Design for Heave Motion of Surface Effect Ships  

作　　者：许大禹 孙玉清 杜佳璐 胡鑫 

机构地区：[1]School of Information Science and Technology, Dalian Maritime University, Dalian 116026, China [2]School of Marine Engineering, Dalian Maritime University, Dalian 116026, China

出　　处：《Journal of Donghua University(English Edition)》2016年第5期759-763,共5页东华大学学报（英文版）

基　　金：National Natural Science Foundations of China(Nos.51579026,51079013);Program for Excellent Talents in Universities of Liaoning Province,China(No.LR2015007);Project of Resource and Social Security of Ministry of Human Province,China;Fundamental Research Funds for the Central Universities,China(No.3132016020)

摘　　要：In order to damp the heave motion of surface effect ships(SESs),a sliding mode controller with a disturbance observer was designed.At first,a disturbance observer was proposed to estimate the unknown time-varying disturbance acting on SESs due to waves.Then,based on the disturbance,a slide mode controller was designed to minimize the magnitude of SES's heave motion position.It was theoretically proved that the designed sliding mode controller with the disturbance observer could guarantee the stability of the closed-loop heave motion control system of SESs.Simulations on a Norwegian Navy's SES were carried out and the simulation results illustrated the effectiveness of the proposed controller with the disturbance observer.In order to damp the heave motion of surface effect ships（SESs）,a sliding mode controller with a disturbance observer was designed.At first,a disturbance observer was proposed to estimate the unknown time-varying disturbance acting on SESs due to waves.Then,based on the disturbance,a slide mode controller was designed to minimize the magnitude of SES＇s heave motion position.It was theoretically proved that the designed sliding mode controller with the disturbance observer could guarantee the stability of the closed-loop heave motion control system of SESs.Simulations on a Norwegian Navy＇s SES were carried out and the simulation results illustrated the effectiveness of the proposed controller with the disturbance observer.

关 键 词：disturbance observer sliding guarantee Observer illustrated slide backstepping globally ultimately 

分 类 号：U661.43[交通运输工程—船舶及航道工程]