基于超螺旋滑模的船载稳定平台镇定控制  

Stabilization control for vessel-borne stabilization platform based on super-twisting sliding mode

作　　者：刘文吉 杜佳璐 李健 李诤 LIU Wenji;DU Jialu;LI Jian;LI Zheng(School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China;School of Naval Architecture and Ocean Engineering, Dalian Maritime University, Dalian 116026, China)

机构地区：[1]大连海事大学船舶电气工程学院,辽宁大连116026 [2]大连海事大学船舶与海洋工程学院,辽宁大连116026

出　　处：《系统工程与电子技术》2022年第5期1662-1669,共8页Systems Engineering and Electronics

基　　金：国家自然科学基金(51079013);大连市科技创新基金(2020JJ26GX020)资助课题。

摘　　要：针对存在动态不确定与未知外界扰动的船载稳定平台,提出基于超螺旋扩张状态观测器(super-twisting extended state observer,STESO)的超螺旋滑模(super-twisting sliding mode,STSM)镇定控制方案。构造STESO,为平台的动态不确定以及未知外界扰动引起的总扰动提供在线估计,再依据超螺旋算法设计船载平台STSM镇定控制律,使得船载平台上支撑面渐近调节于惯性空间中某一期望的位姿不变。仿真及比较结果验证了所设计的船载平台镇定控制律具有较高的鲁棒性、扰动估计精度及镇定控制精度。For the stabilization control problem of the vessel-borne platform in the presence of dynamic uncertainties and unknown external disturbances,this paper proposes the super-twisting extended state observer(STESO)based super-twisting sliding mode(STSM)stabilization control strategy.The STESO is constructed to online estimate the total disturbances lumped by the dynamic uncertainties and the unknown external disturbances of the vessel-borne stabilization platform.Based on the above,the STSM stabilization control law of the vessel-borne platform is designed by employing the super-twisting algorithm.The upper support surface of the vessel-borne platform is asymptotically adjusted to the desired position and attitude in the inertial space and is kept to be unchanged.The simulation results with comparisons demonstrate the higher robustness of the designed vessel-borne platform stabilization control law and the higher disturbance estimation and stabilization control accuracy.

关 键 词：船载稳定平台 未知外界扰动 动态不确定 镇定 超螺旋算法 

分 类 号：U661.33[交通运输工程—船舶及航道工程]