船舶航速/航向协调自适应滑模容错控制  

Adaptive Sliding Mode Fault-tolerant Control for Ship Speed/Course Coordination

作　　者：刘胜[1,2] 郭晓杰 张兰勇 谭银朝 LIU Sheng;GUO Xiao-jie;ZHANG Lan-yong;TAN Yin-chao(College of Intelligent Systems Science and Engineering,Harbin Engineering University Harbin 150001,China;Shandong Shipbuilding Control Engineering and Intelligent System Engineering Technology Research Center,Rongcheng 264300,China)

机构地区：[1]哈尔滨工程大学智能科学与工程学院,黑龙江哈尔滨150001 [2]山东省船舶控制工程与智能系统工程技术研究中心,山东荣成264300

出　　处：《控制工程》2021年第10期1946-1954,共9页Control Engineering of China

基　　金：国家自然科学基金资助项目(51579047);山东省重点研发计划项目(2018GHY115001)。

摘　　要：针对舵桨联合操纵的船舶航速/航向协调容错控制问题,结合舵桨功能有效性,提出了一种非线性广义扰动观测器,无需扰动先验信息在线补偿系统的扰动状态。基于广义扰动补偿和自适应估计提出了一种自适应滑模容错控制算法,通过实时估计广义扰动导数的范数上界消除扰动重构误差,同时设计了具有故障惩罚作用的伪逆优化分配策略,引入执行器有效性矩阵来修正故障执行器的优先作用等级,实现了冗余舵桨系统故障运行模式下的航速/航向跟踪、广义扰动补偿和执行器能耗最优化。仿真实验结果验证了所提的广义扰动观测器和自适应滑模容错控制系统的有效性。A nonlinear generalized disturbance observer is proposed in this paper for the speed/course coordination fault-tolerance of the ship system controlled by the redundant rudders and thrusters.In combination with the effectiveness of rudder and thruster functions,the disturbance states of the system are compensated online without prior disturbance information.Based on the generalized disturbance compensation and adaptive estimation,an adaptive sliding mode fault-tolerant control algorithm is proposed.The disturbance reconstruction error is eliminated by estimating the upper bound of the norm for generalized disturbance derivative in real time.Meanwhile,a pseudo-inverse optimization allocation strategy with fault penalty is designed,and the actuator effectiveness matrix is introduced to correct the priority level of the fault actuator.The speed/course tracking,generalized disturbance compensation and actuator energy consumption optimization in the failure operation mode of the redundant rudder and thruster system are realized.The simulation results verify the effectiveness of the generalized disturbance observer and adaptive sliding mode fault-tolerant control system.

关 键 词：航速/航向控制 舵桨协调容错 自适应滑模 扰动观测器 控制分配 

分 类 号：U664.3[交通运输工程—船舶及航道工程]