欠驱动船舶轨迹跟踪控制设计  

Design for Underactuated Ships’ Trajectory Tracking Control

作　　者：刘勇[1] 卜仁祥[1] 李强[1] LIU Yong;BU Ren-xiang;LI Qiang(Navigation College,Dalian Maritime University,DalianLiaoning 116026,China)

机构地区：[1]大连海事大学航海学院

出　　处：《计算机仿真》2019年第5期6-10,共5页Computer Simulation

基　　金：辽宁省自然基金项目(201602084);中央高校基本科研业务费专项资金资助项目(3132016008)

摘　　要：针对常规水面船舶具有二阶非完整约束的特点,利用动态非线性滑模分解迭代设计结合增量反馈方法,解除了要求参考航向已知和角速度持续激励的限制条件,并且无需对不确定模型参数或风、流干扰进行估计;通过对跟踪偏差进行输入输出解耦,设计了输出反馈控制器,在仅有平面轨迹和船位已知条件下可完成欠驱动船舶的轨迹跟踪。应用"育龙"轮的非线性水动力模型进行了仿真,结果表明输出反馈控制器能够有效进行圆弧和正弦的曲线轨迹跟踪,并且对外界干扰不敏感,具有强鲁棒性。验证了设计的控制算法能有效解决模型参数不确定以及外界风流干扰未知的难点问题,具有很强的实践应用价值。The conventional surface ships are of second order nonholonomic constraints characteristic.An output feedback algorithm was developed using decoupling control method and increment feedback based on iterative nonlinear sliding mode designing approach.The estimation of systemic uncertainty and disturbances and the yaw velocity PE(persistent excitation) conditions are not required.With the known reference trajectory and measured position,the underactuated tracking control objective was achieved without the reference orientation to be generated based on a ship model.Computer simulation results on a full nonlinear hydrodynamic ship model of M.V.YULONG were provided to validate the effectiveness and robustness of the proposed controller in circle and sinusoidal reference tracking.The result of simulation shows that the designed algorithm can solve the problem of systemic uncertainty and unknown external disturbances.This has great applied value to the practice.

关 键 词：欠驱动船舶 轨迹跟踪控制 滑模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U664.82[自动化与计算机技术—控制科学与工程]