山东半岛沿岸海域航行中补给船抗干扰同步控制  

Anti-disturbance Synchronization Control for Supply Ship in the Coastal Area of Shandong Peninsula

作　　者：韩国杰 刘志朋 巩庆涛 徐丙莲 胡鑫 HAN Guojie;LIU Zhipeng;GONG Qingtao;XU Binglian;HU Xin(School of Hydraulic Engineering,Ludong University,Yantai 264039,China;Ulshan Ship and Ocean College,Ludong University,Yantai 264039,China;School of Mathematics and Statistics Science,Ludong University,Yantai 264039,China)

机构地区：[1]鲁东大学水利工程学院,山东烟台264039 [2]鲁东大学蔚山船舶与海洋学院,山东烟台264039 [3]鲁东大学数学与统计科学学院,山东烟台264039

出　　处：《鲁东大学学报（自然科学版）》2024年第2期97-104,共8页Journal of Ludong University:Natural Science Edition

基　　金：国家自然科学基金面上项目(62273172);山东省高等学校优秀青年创新团队(2021KJ042);山东省海上航天装备技术创新中心开放课题(MAETIC2021-01);山东省研究生教育教学改革研究项目(SDYJG21045)。

摘　　要：本文研究了山东半岛沿岸海域航行中补给船同步控制问题,并解决网络攻击和干扰补偿引起的增益时变问题。首先,构造了干扰观测器以提供海洋中的时变干扰估计值,构造了自适应律实时更新未知控制参数;其次,通过将干扰观测器与矢量反步技术相结合,设计一种用于同步的抗干扰跟踪控制器;最后,在1∶70比例的补给船模型上进行了仿真模拟。结果表明:抗干扰同步跟踪控制器能够实现补给船与被补给船的同步航行,并保证闭环同步跟踪控制系统中的所有信号全局一致最终有界。The synchronization control problem is investigated for supply ship in the coastal area of Shandong Peninsula in this paper,and the problem of the time-varying gain caused by cyber-attacks and disturbance compensation is solved.Firstly,a disturbance observer was designed to provide time-varying disturbance estimates in the ocean,and the adaptive law was constructed to update the unknown control parameters in real time;secondly,an anti-disturbance tracking controller for synchronization was designed by combining the disturbance observer with the vector backstepping technique;finally,simulations were conducted on a 1:70 scale model supply ship.The results show that the anti-disturbance tracking controller can realize the synchronization navigation between the supply ship and the supplied ship,and all signals in the closed-loop synchronization tracking control system are global uniform ultimate boundedness.

关 键 词：航行补给 同步控制 干扰观测器 网络攻击 矢量反步法 

分 类 号：U664.82[交通运输工程—船舶及航道工程] TP273[交通运输工程—船舶与海洋工程]