基于鲁棒自适应扰动观测器的船舶航向保持控制器设计  

A Novel Course-Keeping Control Based on the Robust Adaptive Disturbance Observer

作　　者：李纪强 张国庆[1] 尚洪达 LI Jiqiang;ZHANG Guoqing;SHANG Hongda(Navigation College, Dalian Maritime University, Dalian 116026, China)

机构地区：[1]大连海事大学航海学院,辽宁大连116026

出　　处：《中国航海》2020年第4期15-19,共5页Navigation of China

基　　金：国家自然科学基金(51909018)。

摘　　要：针对受外界海洋环境扰动的欠驱动船舶航向保持控制问题,设计一种基于鲁棒自适应扰动观测器的船舶航向保持控制算法。通过Lyapunov理论,证明设计的控制器半全局一致最终有界稳定(Semi-Global Uniform and Ultimately Bounded,SGUUB)。以“育鲲”轮为船舶模型,建立考虑外界干扰的非线性Nomoto数学模型,在4级海况下进行航向保持仿真试验,并且与已有的控制算法进行对比,仿真结果表明:在达到稳定之后,基于鲁棒自适应扰动观测器的船舶航向保持器能使舵机操舵频率明显下降,舵机损耗较低,进一步验证提出的控制器算法具有较好的控制效果和鲁棒性。The robust adaptive disturbance observer is introduced to the course-keeping controller to address marine environment disturbance.The system is proved to be SGUUB(Semi-Global Uniform and Ultimately Bounded)stable with the Lyapunov theory.The nonlinear Nomoto mathematical model with external perturbation is used to model the research ship“YU KUN”of Dalian Maritime University.The course-keeping simulation of ship sailing under the fourth sea state is carried out,comparing with other algorithms,showing the merits of low rudder actuating frequency,therefore,less wear and tear.So the design is proved better effective and robust.

关 键 词：欠驱动船舶 航向保持 鲁棒自适应 扰动观测器 Nomoto数学模型 

分 类 号：U661.78[交通运输工程—船舶及航道工程]