基于模糊规则的鲁棒预测舵减摇控制  

Rudder roll stabilization with robust predictive control based on fuzzy rules

作　　者：秦毅峰 刘志全[1] QIN Yifeng;LIU Zhiquan(Key Laboratory of Transport Industry of Marine Technology and Control Engineering,Shanghai Maritime University,Shanghai 201306,China)

机构地区：[1]上海海事大学航运技术与控制工程交通运输行业重点实验室,上海201306

出　　处：《中国舰船研究》2023年第4期206-214,共9页Chinese Journal of Ship Research

基　　金：国家自然科学基金资助项目(52001197)。

摘　　要：[目的]针对模型预测控制(MPC)中因权重值固定所导致的欠驱动船舶在舵减摇时对转向的响应较慢的问题,提出一种基于有限时间扩张状态观测器(FTESO)、模糊控制规则和鲁棒预测控制的舵减摇控制器设计方法。[方法]首先,建立固定航速欠驱动船舶线性模型用于控制器设计,FTESO用于观测船舶运动状态和外部扰动;然后,通过对船舶在航向保持和变航向的情况进行分析,设计这2种情况下的目标函数权重,并建立状态观测值与目标函数权重之间的模糊规则,随后采用鲁棒预测控制解决带约束的多目标协同控制问题;最后,以一艘多用途舰艇为例进行数值仿真分析。[结果]结果显示,在航向改变情况下,对比扰动补偿模型预测控制和扰动观测器强化模型预测控制,发现减摇效果分别提升了5.74%和0.8983%,对于30°的转向的响应时间分别减少了1.8和7.3 s,证明了所设计控制方法的闭环稳定性。[结论]研究表明,所提方法在欠驱动船舶减摇方面是有效的。[Objective]In order to solve the problem of an underactuated ship responding slowly to heading changes during rudder roll stabilization(RRS)caused by fixed weight values in model predictive control(MPC),a RRS control method based on the finite time extended states observer(FTESO),fuzzy rules and ro-bust predictive control is proposed.[Methods]A fixed speed linear underactuated ship model is established for controller design.The FTESO is used to estimate the ship's motion states and external disturbances.By analyzing the conditions of the ship's course-keeping and heading change,the objective function weights un-der the two conditions and the fuzzy rules between the states and weights are designed respectively.Robust predictive control is used to solve the multi-objective cooperative control problem with constraints.The closed-loop stability of the proposed control method is then proven theoretically.[Results]According to a numerical simulation of a multi-purpose naval vessel,the proposed control method is compared with a disturb-ance compensation MPC and disturbance observer enhanced MPC,and is shown to have a higher roll stabiliza-tion rate by 5.74%and 0.8983%,respectively.The response time of the proposed method for a 30°heading change is also reduced by 1.8 s and 7.3 s respectively.[Conclusion]The effectiveness of the proposed method in underactuated ship rolling reduction is proven.

关 键 词：欠驱动船舶 舵减摇 有限时间状态观测器 鲁棒预测控制 模糊规则 

分 类 号：U664.82[交通运输工程—船舶及航道工程]