基于收缩理论的船舶动力定位自适应反步控制  

Contraction Based Adaptive Backstepping Control of Dynamic Positioning Vessels

作　　者：张玉芳 刘长德[3] ZHANG Yufang;LIU Changde(School of Control Technology,Wuxi Institute of Technology,Wuxi 214121,China;School of Electrical Engineering,Nantong University Nantong 226019,China;China Ship Scientific Research Center,Wuxi 214082,China)

机构地区：[1]无锡职业技术学院,无锡214121 [2]南通大学电气工程学院,南通226019 [3]中国船舶科学研究中心,无锡214082

出　　处：《中国造船》2020年第4期85-94,共10页Shipbuilding of China

基　　金：江苏省自然科学青年基金(BK20180953);国家重点基础研究发展计划(973计划)项目(2014CB046706);无锡职业技术学院人才引进项目(BT2018-04).

摘　　要：针对船舶动力定位系统模型受到的风浪流等环境扰动,基于收缩理论,从轨迹收敛性角度设计动力定位自适应反步控制律。采用反步设计,使每个误差子系统是收缩的,以保证状态误差全局指数收敛,并采用自适应策略对风浪流形成的有界干扰进行估计,保证估计值关于真实值有界。通过坐标变换进行收缩性分析,证明了原闭环系统下船舶位置和艏向角全局指数收敛于期望值。然后对一艘工程船开展了动力定位数值仿真与分析,验证所设计的控制器对海况具有良好的鲁棒性。Dynamic positioning vessel is continuously exposed to environmental disturbances of wind,currents and waves.An adaptive backstepping controller is designed for dynamic positioning vessel by considering the trajectory convergence of the positioning system.At each step of recursive design,subsystem is made contracting,and global exponential convergence is guaranteed.An adaptive strategy is used to estimate the bounded disturbance caused by wind,currents and waves,and the estimate is bounded with respect to a true value.Using coordinate transformation for contraction analysis,it is proved that the ship’s position and heading can globally and exponentially convergent to the desired value.Numerical simulation on a dynamic vessel is given to demonstrate strong robustness of the proposed controller under different sea conditions.

关 键 词：动力定位 收缩理论 反步法 鲁棒性 

分 类 号：U661.334[交通运输工程—船舶及航道工程]