风帆助航船舶自启发评价迭代滑模航向控制  

Iterative sliding mode control over sail-assisted ship course based on adaptive heuristic critic algorithm

作　　者：沈智鹏[1] 张晓玲 SHEN Zhipeng;ZHANG Xiaoling(School of Information Science and Technology, Dalian Maritime University, Dalian 116026, China)

机构地区：[1]大连海事大学信息科学技术学院,辽宁大连116026

出　　处：《哈尔滨工程大学学报》2017年第11期1727-1732,共6页Journal of Harbin Engineering University

基　　金：国家自然科学基金项目(61374114;51579024);辽宁省自然科学基金项目(201602072);中央高校基本科研业务费项目(3132016311;3132017126)

摘　　要：针对风帆助航船舶运动模型具有时变非线性和受海洋环境扰动作用的特点,本文提出一种带自适应启发评价的模糊非线性迭代滑模航向控制方法。该方法采用双曲正切函数构造系统状态的迭代滑模函数,利用滑模面反馈设计控制增量,避免了对系统未知项和外界扰动的观测,并结合模糊系统对滑模控制参数进行优化,增强控制器的自适应性。通过定义一种控制舵角抖振观测变量与自适应启发评价函数,对所构建模糊系统的结构参数进行动态调节和优化,以进一步降低控制舵角的抖振作用。应用"文竹海"号散货船数学模型进行控制仿真,结果表明所设计控制器能有效地处理模型参数摄动和海洋环境扰动,控制性能良好,具有强鲁棒性。In this study,an adaptive heuristic critic algorithm based fuzzy nonlinear iterative sliding mode controller is presented for a time varying nonlinear sail assisted ship motion model influenced by marine environmental disturbance.The designed controller uses a hyperbolic tangent function to construct the sliding mode function of the system station.The control output is calculated through sliding surface feedback,which assists the system in avoiding the estimationof unknown parameters and external disturbances.To improve the controller′s adaptive property,the sliding mode parameters are optimized via the constructed fuzzy system.Defining a chattering variable of the control rudder and an adaptive heuristic critic function to adjust and optimize the constructed fuzzy system′s structure parameters on line achieves a good performance in reducing the output rudder chattering.Finally,numerical simulations are conducted on the large ocean going bulk carrier“Wen Zhuhai”,and simulation results show that the controller achieves good performance and is robust against perturbation from model parameters and marine environmental disturbances.

关 键 词：风帆助航船 航向控制 自适应启发评价 模糊系统 迭代滑模 控制器设计 舵角 抖振 鲁棒性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]