基于改进自适应控制分配的船舶推进器故障容错控制  

Fault-tolerant control for ships with thruster faults based on improved adaptive control allocation

作　　者：郎祺 徐海祥[1,2,3] 余文曌 杜哲[1,2] 王红梅[1] 陈金龙 LANG Qi;XU Haixiang;YU Wenzhao;DU Zhe;WANG Hongmei;CHEN Jinlong(School of Naval Architecture,Ocean and Energy Power Engineering,Wuhan University of Technology,Wuhan 430063,China;Key Laboratory of High Performance Ship Technology(Wuhan University of Technology),Ministry of Education,Wuhan 430063,China;Sanya Science and Education Innovation Park,Wuhan University of Technology,Sanya 572025,China)

机构地区：[1]武汉理工大学船海与能源动力工程学院,湖北武汉430063 [2]高性能船舶技术教育部重点实验室(武汉理工大学),湖北武汉430063 [3]武汉理工大学三亚科教创新园,海南三亚572025

出　　处：《中国舰船研究》2025年第1期289-299,共11页Chinese Journal of Ship Research

基　　金：国家自然科学基金资助项目(52201373);海南省科技计划三亚崖州湾科技城科技创新联合项目(2021CXLH0016);国家大学生创新创业训练计划项目(202410497109)。

摘　　要：[目的]针对过驱动船舶在作业中因部分推进器发生故障导致推进能力下降的问题,提出一种基于改进自适应控制分配的容错控制方法。[方法]首先,设计自适应控制分配算法对含有故障推进系统的配置矩阵进行在线自适应重构,在当前推进能力条件下尽量减小推力偏差,并在自适应更新律中引入微分项,以抑制自适应过程中的推力抖振现象;然后,将未处理的控制分配误差作为系统的广义干扰,设计修正型扩张状态观测器对包含其在内的系统集总扰动进行在线估计并在控制律中进行补偿;最后,对闭环控制系统误差有界性进行证明。[结果]以自研的过驱动船舶实验样机为对象进行的仿真与模型实验结果表明,所提方法在推进器发生故障时能显著降低作业误差,使系统更快地恢复至稳定状态,并有效地改善系统的抖振现象。[结论]综上所述,所提方法能够有效应对过驱动船舶推进器失效故障,提升船舶在作业时的容错能力,对提高过驱动船舶的安全性与可靠性具有重要意义。[Objective]In the process of marine resource development,some thrusters of over-actuated ships are prone to failures during operation,resulting in a decrease in propulsion power.This paper aims to propose a fault-tolerant control method based on improved adaptive control allocation to enhance the fault tolerance and the safety reliability of ship operations.[Methods]Firstly,an adaptive control allocation algorithm is designed to online reconstruct the configuration matrix of the faulty propulsion system based on the current propulsion capacity,reducing the thrust deviation.Additionally,a differential term is added to the adaptive update law to suppress the thrust jitter.Then,the unprocessed control allocation error is regarded as a lumped disturbance,which is estimated and compensated by a modified extended state observer.Finally,the boundedness of the error in the closed-loop control system is proved using Lyapunov theory,ensuring the theoretical feasibility of the method.[Results]Simulation and modeling experiments are carried out using a self-developed over-actuated ship experimental prototype.In terms of the upper limit of positioning error,the IACA method demonstrates a significantly lower upper limit of positioning error across all directions when compared to the ACA and QPCA methods.Furthermore,regarding system dynamic performance,the IACA method facilitates rapid stabilization of the system to a steady state following thruster failure.In the simulation experiments,the abrupt changes in disturbance estimation values,actual force,and thrust deviation associated with the IACA method were minimal post-failure,indicating a rapid recovery.Additionally,the adaptive parameter updates were both faster and more stable,exhibiting minimal jitter,effectively enhancing the system's performance in terms of jitter reduction.[Conclusion]The results show that the proposed method can effectively handle the failure of over-actuated ship thrusters.Verified by experiments,it can reduce operation errors,help the system quickly

关 键 词：船舶 操舵装置 容错 可靠性 运动控制 自适应控制系统 推进器故障 

分 类 号：U664.82[交通运输工程—船舶及航道工程]