海上舷梯末端点位置终端滑模镇定控制  

Terminal sliding mode stabilization control of offshore gangway tip position

作　　者：林泽 吴正平[1] 杜佳璐 LIN Ze;WU Zhengping;DU Jialu(Collage of Electrical Engineering and New Energy,China Three Gorges University,Sanxia 443002,China;Collage of Marine Electrical Engineering,Dalian Maritime University,Dalian 116026,China)

机构地区：[1]三峡大学电气与新能源学院,湖北宜昌443002 [2]大连海事大学船舶电气工程学院,辽宁大连116026

出　　处：《大连海事大学学报》2023年第3期97-105,共9页Journal of Dalian Maritime University

基　　金：国家自然科学基金面上项目(51079013)。

摘　　要：针对海上舷梯末端点位置镇定控制问题,通过运动学反解,计算出补偿海浪引起的船舶摇荡运动对舷梯末端点位置的扰动,保证舷梯末端点位置在惯性坐标系下保持不变的舷梯关节期望位置;综合考虑舷梯动力学模型参数不确定及海浪引起的船舶摇荡运动对舷梯的扰动力,构造扩张状态观测器(ESO),估计由参数不确定及海浪引起的船舶摇荡运动对舷梯的扰动力组成的总扰动;进一步,设计基于ESO的终端滑模关节位置跟踪控制律,保证舷梯的关节位置跟踪其期望位置。理论分析证明了所构造的ESO的状态估计误差有界和所设计的基于ESO的终端滑模控制律使舷梯的关节位置跟踪误差在有限时间内收敛至零,从而保证舷梯末端点位置在惯性坐标系下保持不变。仿真结果验证了设计控制律的有效性。Aiming at the position stabilization control problem of the offshore gangway tip,the expected joint trajectories of the gangway is calculated by inverse kinematics solution,which can compensate the disturbances of the gangway tip position caused by the ship motions under the waves and ensure that the gangway tip position unchanged relative to the inertial frame.Considering the parameter uncertainties and the generalized disturbance forces of the gangway caused by ship motions under waves in the gangway dynamics model,the extended state observer(ESO)is constructed,which estimates the total disturbance composed of the parameter uncertainties and the generalized disturbance forces of the gangway caused by ship motions under waves.Furthermore,a terminal sliding mode trajectory tracking control law based on the ESO is designed to ensure the joint trajectories of the gangway tracking the expected trajectories.It is theoretically proved that the state estimation errors of the constructed ESO can converge and the designed terminal sliding mode control law based on the ESO ensures the joint trajectory tracking errors of the gangway converge in a finite time,which can further maintain the gangway tip position unchanged relative to the inertial frame.The simulation results verify the effectiveness of the designed control law.

关 键 词：海上舷梯 末端点位置 终端滑模控制 镇定控制 扩张状态观测器(ESO) 

分 类 号：U664.4[交通运输工程—船舶及航道工程]