船舶航向模型参考自适应和最优控制研究  

Ship heading model reference adaptive control and optimal control methods research

作　　者：包政凯 朱齐丹 杨司浩 刘永超 BAO Zhengkai;ZHU Qidan;YANG Sihao;LIU Yongchao(College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,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

出　　处：《应用科技》2022年第1期8-14,共7页Applied Science and Technology

基　　金：绿色智能内河船舶创新专项(MC-202002-C01).

摘　　要：为了实现船舶转向过程中的恒定角速度控制,将微分跟踪器引入了模型参考自适应控制,并基于李雅普诺夫稳定性理论证明了船舶航向系统的稳定性。同时考虑到船舶在航向保持过程中要求较高航向控制精度的同时要降低操舵能耗,设计了自适应线性二次型高斯最优控制器:首先使用满秩分解最小二乘法辨识船舶航向模型参数;其次使用状态扩张卡尔曼滤波器估计船舶航向和角速度;最后,基于最优控制律跟踪航向及其微分信号。根据国际标准化组织自适应舵标准规范,使用船舶半实物仿真平台的多种海况和船型,对分别嵌入2种控制算法的自适应舵软件进行了控制性能对比测试。测试结果验证了2种控制器的稳定性。性能指标统计结果表明,微分跟踪模型参考自适应控制器具有更好的转向控制性能,而自适应线性二次型高斯最优控制器具有更好的航向保持性能。To achieve constant angular velocity in the ship turning process,the differential tracker is introduced into model reference adaptive controller design process.The ship heading system stability is proved based on Lyapunov stability theory.Meanwhile,in order to keep higher ship heading control accuracy while reducing steering energy consumption in the course,we design an adaptive linear quadratic Gaussian optimal controller.Firstly,the full rank decomposition least squares method is used to identify ship heading model parameters;Secondly,the state extended Kalman filter is used to estimate the ship heading and angular velocity.Finally,the optimal control law is designed to track the ship heading and differential signals.According to the ISO adaptive rudder standard specification,the control performance comparison tests were performed for the adaptive rudder software embedded with two control schemes in the ship hardware-in-the-loop simulation platform.The comparison tests verify stability of the presented two control schemes.The performance index statistical results illustrate that the differential tracking model reference adaptive controller has better turning control performance and the adaptive linear quadratic Gaussian optimal controller has better ship heading keeping performance.

关 键 词：船舶航向控制 恒定角速度转向 模型不确定性 模型参考自适应控制 自适应最优控制器 自动舵标准测试 操舵能耗 饱和微分跟踪器 

分 类 号：U664.82[交通运输工程—船舶及航道工程]