具有未知谐波干扰的船舶动力定位自适应控制  

Adaptive dynamic positioning for ships with unknown harmonic disturbances

作　　者：李磊 王瑞 巩庆涛 胡鑫 滕瑶 LI Lei;WANG Rui;GONG Qing-tao;HU Xin;TENG Yao(University of Strathclyde,Glasgow G128QQ,UK;Yantai Engineering and Technology College,Yantai 265500,China;Ulsan Ship and Ocean College,Ludong University,Yantai 264025,China;School of Mathematics and Statistics,Ludong University,Yantai 264025,China;Shandong Marine Aerospace Equipment Technological Innovation Center,Yantai 264000,China;China Merchants Marine and Offshore Research Institute,Shenzhen 518000,China)

机构地区：[1]英国格拉斯哥斯凯莱德大学,英国格拉斯哥G128QQ [2]烟台工程职业技术学院,山东烟台265500 [3]鲁东大学蔚山船舶与海洋学院,山东烟台264025 [4]鲁东大学数学与统计科学学院,山东烟台264025 [5]山东省海上航天装备技术创新中心,山东烟台264000 [6]招商局海洋装备研究院,广东深圳518000

出　　处：《舰船科学技术》2024年第1期76-81,共6页Ship Science and Technology

基　　金：国家自然科学基金资助项目(62273172,61903174,U2006229);山东省重大创新工程项目(2020CXGC010701,2020CXGC010702,2021CXGC010702);山东省重点研发计划院士团队支持项目(2020ZLYS11);烟台市科技计划项目(2021ZDCX001);烟台新旧动能转换研究院科研项目(2020XJDN004);山东省高等学校优秀青年创新团队项目(2021KJ042);山东省自然科学基金培养基金项目(ZR2019PF006);山东省海上航天装备技术创新中心开放课题(MAETIC2021-01)。

摘　　要：针对具有未知谐波干扰的船舶动力定位控制问题,设计自适应干扰抵消控制策略。海洋环境扰动被表示为参数未知且系统矩阵所有特征值位于虚轴上外部系统的输出向量,构造观测器提供外部系统状态向量的在线估计值,使船舶扰动补偿转化为自适应控制问题。利用自适应动态面控制设计干扰抵消控制律,指令滤波器和辅助动态系统被引入降低输入饱和的影响。理论证明控制律能够使得船舶位置和航向角保持在期望值上,同时保证闭环动力定位控制系统所有信号一致最终有界。仿真结果验证了自适应干扰抵消控制的有效性。In this paper,an adaptive disturbance rejection control scheme is proposed for the dynamic positioning of ships with unknown harmonic disturbances.The ocean environmental disturbances are expressed by the output vector of an unknown parametric exogenous system with the eigenvalues of the system matrix lying on the imaginary axis.An observer is constructed to provide the on-line estimations of the unknown state vector of the exogenous system such that the disturbance compensation is converted into the adaptive control problem.The adaptive dynamic surface control is employed to design the adaptive disturbance rejection control law.The command filter and the auxiliary dynamic system are inserted to reduce the input saturation effects.The theoretical proof shows that the designed adaptive disturbance rejection control law can maintain the position and heading of the ship on the desired values and guarantee that all signals in the closed-loop dynamic positioning control system are uniformly ultimately bounded.Simulation results validate the adaptive disturbance rejection control.

关 键 词：船舶 动力定位 自适应内模观测器 指令滤波器 动态面控制 

分 类 号：U661.3[交通运输工程—船舶及航道工程]