基于扩张状态观测器的滑模预测串级舵减摇控制  

Rudder Roll Stabilization with Sliding Mode MPC Cascade Control Based on Extended State Observer

作　　者：秦毅峰 刘志全[1] QIN Yifeng;LIU Zhiquan(Key Laboratory of Transport Industry of Marine Technology and Control Engineering,Shanghai Maritime University,Shanghai 201306,China)

机构地区：[1]上海海事大学航运技术与控制工程交通运输行业重点实验室,上海201306

出　　处：《船舶工程》2024年第1期111-120,共10页Ship Engineering

基　　金：国家自然科学基金项目(52001197,U2006228,52171313)。

摘　　要：针对在定权重模型预测舵减摇控制下的欠驱动船舶转向响应较慢的问题,提出一种基于模糊扩张状态观测器(FESO)的滑模预测串级舵减摇控制方法。建立线性三自由度欠驱动船舶运动模型,设计FESO来估计船舶状态和外部扰动,设计离散自适应滑模控制(DASMC)作为串级外环航向控制,以外环控制作为预期控制律,设计模型预测控制(MPC)作为串级内环减摇控制。通过分析船舶的航向误差和航行情况,设计模糊规则在不同航行情况下改变MPC目标函数的状态权重和控制输入权重,理论证明了所设计观测器的收敛性和控制方法的闭环稳定性。通过对一艘多用途海军舰艇进行数值仿真分析,在航向改变的情况下,所设计的控制器减摇率在保证减摇效果的同时,相比固定权重线性MPC在30°的转向的响应时间更少,证明了所提方法能有效提升欠驱动船舶减摇时对转向的响应。In order to solve the problem that the underactuated ship responds slowly to heading change during rudder roll stabilization by using fixed weight model predictive control.Rudder roll stabilization(RRS) control method based on fuzzy extended states observer(FESO) and cascade control which contain sliding mode control and model predictive control is proposed.A 3-DOF linear underactuated ship motion model is established for study.The FESO is designed to estimate ship motion states and external disturbances.The FESO is designed to estimate ship motion states and external disturbances.A discrete adaptive sliding mode control(DASMC) is designed as an outer loop of the cascade control to control the course of the vessel.By using the control laws of the outer loop as the desired control laws,a model predictive control is designed as an inner loop of the cascade control to stabilize roll motion of the vessel.By analyzing heading errors and conditions of the vessel.The fuzzy rules which can change the objective function weights of the MPC during different conditions are designed.The convergence of the observer and the closed-loop stability of the proposed control method are proven theoretically.According to the numerical simulation on a multi-purpose naval vessel,the roll stabilization rate of the proposed control method ensures the roll reduction effect during ship heading changing.Compared with fixed weight linear MPC,The response time of the proposed method for 30° heading change is less than the fixed weight linear MPC.It is proved that the proposed method can effectively improve the steering response of underactuated vessel during rudder roll stabilization.

关 键 词：欠驱动船舶 舵减摇 模糊扩张状态观测器 模型预测控制 滑模控制 

分 类 号：U664.82[交通运输工程—船舶及航道工程]