基于新型TSM的船舶动力定位系统控制研究  

Research on control of ship dynamic positioning system based on novel TSM

作　　者：王宇超[1] 陈佳豪 邵兴超[1] 屈银松 傅荟璇[1] WANG Yuchao;CHEN Jiahao;SHAO Xingchao;QU Yinsong;FU Huixuan(School of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150050,China)

机构地区：[1]哈尔滨工程大学智能科学与工程学院,哈尔滨150050

出　　处：《兵器装备工程学报》2024年第11期34-41,67,共9页Journal of Ordnance Equipment Engineering

基　　金：国家自然科学基金面上项目(52271313)。

摘　　要：复杂海洋情况下,水面船的动力定位系统存在定位精度低、收敛速度慢的问题,难以保持期望船位与艏向。为了提高系统的收敛速度减少跟踪误差,提出一种基于新型固定时间稳定的非奇异快速终端滑模(TSM)控制方法。该方法采用新型固定时间稳定算法获得收敛时间的上界,选择固定时间扩张状态观测器,对船舶航行速度和海洋干扰力进行估计,进一步提出一种固定时间非奇异快速终端滑模输出反馈控制器,避免奇异性问题同时减弱抖振现象,实现了收敛时间的预先设定;在此基础上,通过辅助动态系统对控制器输出的力和力矩进行饱和补偿。较传统方法,该方法可有效提升系统的控制精度和收敛速度,对船舶动力定位系统的研究具有一定的参考价值。In complex ocean conditions,ship dynamic positioning systems often experience challenges such as low positioning accuracy and slow convergence speed,which hinder effective path tracking through controller design.To enhance the convergence speed and control accuracy of the dynamic positioning system,this study proposes a novel fixed time stable non-singular fast terminal sliding mode control strategy.By incorporating a constantly changing function term into the original fixed time stability method,the convergence speed is improved,and a detailed proof process is provided.The proposed method utilizes a novel fixed time stabilization algorithm to determine an upper bound on the convergence time.This upper bound depends on the system parameters and remains independent of the system’s initial state.Moreover,a fixed time extended state observer is employed to estimate the ship’s sailing speed and the ocean disturbance force accurately.Additionally,a fixed time non-singular fast terminal sliding mode output feedback controller is introduced,replacing the sign function with a saturation function.This modification effectively addresses singular value issues and reduces chattering phenomenon.The proposed controller achieves fixed time convergence of the tracking error,with the convergence time being pre-settable.Furthermore,the proposed method assists the dynamic system in compensating for the force and torque output saturation by the controller,thus reducing faults caused by high-speed rotation of the propeller.Experimental results demonstratethis method can effectively improve the control accuracy and convergence speed of the system.These findings effectively enhance the control accuracy and response speed of the system,offering valuable insights for future research in ship dynamic positioning system.

关 键 词：动力定位系统 固定时间 非奇异快速终端滑模 扩张状态观测器 输入饱和 

分 类 号：U664.82[交通运输工程—船舶及航道工程]