基于NDO的船舶横摇指令滤波反演控制方法研究  

Command-filtered Backstepping Control for Stabilization of Ship Rolling Based on Nonlinear Disturbance Observer

作　　者：金仲佳 刘胜[1] 张隆辉[2] 兰波[2] 秦海瑞 JIN Zhongjia;LIU Sheng;ZHANG Longhui;LAN Bo;QIN Hairui(Harbin Engineering University,Harbin 150001,China;China Ship Scientific Research Center,Wuxi 214082,China;Shanghai Oriental Maritime Engineering Technology Co.,Ltd.,Shanghai 200011,China)

机构地区：[1]哈尔滨工程大学,哈尔滨150001 [2]中国船舶科学研究中心,无锡214082 [3]上海市东方海事工程技术有限公司,上海200011

出　　处：《中国造船》2019年第3期121-130,共10页Shipbuilding of China

摘　　要：针对高海情下船舶非线性横摇控制问题,设计一种基于非线性干扰观测器的指令滤波反演控制器。给出无因次化非线性船舶横摇运动数学模型,并通过功率谱加权平均的方法对海浪干扰力矩进行建模。利用非线性干扰观测器去观测随机海浪的干扰,并选择合适的参数使得观测器的观测误差收敛。在引入了非线性干扰观测器的非线性横摇模型上,设计指令滤波反演控制器,使得整个系统稳定。在海浪随机干扰下采用该控制策略,分别与比例-微分控制器、指令滤波反演控制器进行对比,结果表明,设计的控制器有更好的跟踪性能和减摇效果。Command-filtered backstepping control(CBC)based on nonlinear disturbance observer(NDO)is designed to deal with stabilization of nonlinear ship rolling in the rough sea.A dynamic model of ship rolling stabilization is presented in dimensionless form,with wave disturbance modeled by using power spectrum weighted averaging method.The proposed controller can guarantee the stabilization of the whole system.Simulation results show that the control strategy can effectively decrease the rolling motion under random wave disturbances.The proposed controller has more excellent dynamic performance than traditional proportional-derivative(PD)controller and the command-filtered backstepping controller.

关 键 词：非线性干扰观测器 减摇鳍 指令滤波 反演控制 

分 类 号：U661.3[交通运输工程—船舶及航道工程]