考虑多约束条件的舰船航行姿态自适应控制算法  

Ship attitude adaptive control algorithm considering multiple constraints

作　　者：刘洋 裴洲奇 LIU Yang;PEI Zhou-qi(Applied Technology College of Dalian Ocean University,Dalian 116300,China)

机构地区：[1]大连海洋大学应用技术学院,辽宁大连116300

出　　处：《舰船科学技术》2024年第7期154-158,共5页Ship Science and Technology

基　　金：辽宁省教育科学“十四五”规划课题资助项目(JG22EB031)。

摘　　要：舰船的航行姿态受到复杂的非线性动力学因素影响,例如水动力、风力、波浪力等。这些因素导致了船舶运动的非线性和不确定性,使得对其航行姿态控制的精度较低。为此,提出考虑多约束条件的舰船航行姿态自适应控制算法。分析舰船在海上航行,构建船舶的低频和高频运动模型;根据舰船航行时的特点建立船舶航行的避障约束、转弯最小半径约束以及控制输入饱和约束,建立以调节能耗最少的舰船航行姿态控制目标函数,并通过径向基函数(Radial Basis Function,RBF)神经网络逼近目标函数,得到无限接近目标函数的船舶航行姿态控制律,完成姿态自适应控制。实验结果表明,该方法能够准确控制舰船航行姿态,控制量输出接近理想状态,在进行姿态控制时最大静态误差仅为0.15°,控制时间以及超调量均较小。The ship's attitude is affected by complex nonlinear dynamics,such as hydrodynamic force,wind force,wave force and so on.These factors lead to the nonlinear and uncertain motion of the ship,which makes the precision of the attitude control of the ship low.Therefore,an adaptive attitude control algorithm considering multiple constraints is proposed.The low frequency and high frequency motion models of ships are constructed by analyzing their sailing on the sea.Obstacle avoidance constraints,minimum turning radius constraints and control input saturation constraints of ship navigation are established according to the characteristics of ship navigation,and the objective Function of ship navigation attitude control is established to adjust the energy consumption at the least,and the objective function is approached by Radial Basis Function(RBF) neural network.The attitude control law of ship sailing which is close to the objective function is obtained,and the attitude adaptive control is completed.The experimental results show that this method can accurately control the ship's attitude,the output of the control quantity is close to the ideal state,the maximum static error is only 0.15°,and the control time and overshoot are small.

关 键 词：多条件约束 舰船航行 姿态控制 自适应控制 RBF网络 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]