舵鳍联合自抗扰主从控制策略设计  

Active disturbance rejection master-slaver strategy for rudder and fin integrated control

作　　者：宋吉广[1] 王继铭 梁利华[1] 史洪宇 SONG Ji-guang;WANG Ji-ming;LIANG Li-hua;SHI Hong-yu(College of Automation,Harbin Engineering University,Harbin Heilongjiang 150001,China)

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《控制理论与应用》2021年第2期264-274,共11页Control Theory & Applications

基　　金：国家自然科学基金项目(50879012);国家型号科研项目(KY10400160092)资助。

摘　　要：在分析舰船航行中所受干扰特性的基础上,针对目前舵鳍联合控制中存在的问题,以虚拟控制力作为中间变量,设计了主从结构的舵鳍联合控制策略.主控制器采用非线性干扰观测器对环境扰动和模型不确定性进行估计,在此基础上以虚拟控制力作为控制量采用自抗扰结构,对船舶三自由度运动进行联合控制.同时,在主控制器设计中包含了舵/鳍伺服系统的实际约束,保证了从控制器解的可行性.基于遗传算法设计了数值反演从控制器,求取最终的控制量.通过船模试验和仿真对所设计的控制器进行了验证,试验和仿真结果表明所设计的两步主从控制策略具有较好的控制效果.In order to solve the existing problems in the integrated control of ship rudder and fin,some virtual control forces are employed as the intermediate variables,then a controller of master/slave architecture is proposed based on the analysis of disturbance characteristics.The nonlinear disturbance observer is used to estimate the environmental disturbances and model uncertainties in the master controller.The virtual control forces are employed to control the three degrees of freedom of ship jointed based on active disturbance rejection structure.In order to ensure the feasibility of the slave controller,the actual constraints of the rudder and fin servo system are taken into account in the master controller.After that,a numerical inversion slave controller is designed based on genetic algorithm to obtain the final control input.The proposed controller was investigated through some ship model tests and simulations at last.And the experimental and simulation results show that the proposed master-slave control strategy with two steps has better control effect.

关 键 词：舵鳍联合控制 非线性模型 非线性干扰观测器 自抗扰控制 主从结构 

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]