基于双重非线性修饰的无人船航向保持自抗扰控制  

Course Keeping Active Disturbance Rejection Control of Unmanned Ship Based on Dual Nonlinear Modification

作　　者：高诗杭 张显库[1] 章沪淦 GAO Shihang;ZHANG Xianku;ZHANG Hugan(Navigation College,Dalian Maritime University,Dalian 116026,Liaoning,China)

机构地区：[1]大连海事大学航海学院,辽宁大连116026

出　　处：《船舶工程》2024年第2期24-33,共10页Ship Engineering

基　　金：国家自然科学基金项目(51679024);大连市重点领域创新团队支持计划项目(2020RT08)。

摘　　要：为研究无人船的航向保持控制问题,设计节能稳定、鲁棒性强的船舶航向保持控制器。以“育鲲”轮船模为研究对象,根据其相关参数建立船舶Nomoto模型并进行线性自抗扰控制器设计。为了践行低碳航行理念,减少无人船实际航行过程中的能耗,引入双重非线性修饰环节,使用MATLAB的Simulink工具箱进行仿真研究。仿真结果证明:根据船舶Nomoto模型和相关参数建立的线性自抗扰控制环节参数整定简单,使用船舶线性及非线性模型进行仿真试验可验证其具有较好的稳定性和鲁棒性。基于现有研究,引入双重非线性修饰环节,使用非线性函数对控制器的输出信号进行非线性化处理,使系统在使用更低能量输入时可得到更好的控制效果,实现无人船航行过程中的节能目标。使用文章所提控制方法可很好地实现无人船航向保持控制,降低船舶航行过程的能耗,具有一定的工程实用意义。In order to study the course keeping control problem of unmanned ships,the controllers with stability,energy saving and robustness is designed.Taking the ship model of"YU KUN"as a plant,according to its relevant parameters,the ship Nomoto model for the design of linear active disturbance rejection controller is established.To practice the concept of green shipbuilding,reduce the energy consumption in actual navigation process of unmanned ships,the dual nonlinear modification links to control system is introduced.The simulation studies are carried out by using MATLAB Simulink toolbox.Simulation results prove that the linear active disturbance rejection controller established according to the ship Nomoto model is simple to adjust parameters,and the simulation experiments using the ship linear and nonlinear models can verify that it has good stability and robustness.Based on the existing research,the introduction of dual nonlinear modification links declines the output of the control system.Using nonlinear functions to nonlinearize the output signal of the controller enables the system to achieve better control effect with lower energy inputs.The control method is proposed the course keeping control of unmanned ship can be realized and the energy consumption of ship sailing can be reduced,which has certain engineering practical significance.

关 键 词：无人船 航向保持 双重非线性修饰 自抗扰控制 状态观测器 

分 类 号：U664.82[交通运输工程—船舶及航道工程]