基于低-高增益反馈控制和扩张状态观测器的双体船垂向稳定研究  

Vertical stabilization of catamaran based on low-high gain feedback control and extended state observer

作　　者：张军[1] 申琦清 任俊杰 刘志林 ZHANG Jun;SHEN Qiqing;REN Junjie;LIU Zhilin(School of Electrical and Information Engineering,Jiangsu University,Zhenjiang 212013,China;College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China)

机构地区：[1]江苏大学电气信息工程学院,江苏镇江212013 [2]哈尔滨工程大学智能科学与工程学院,黑龙江哈尔滨150001

出　　处：《中国舰船研究》2025年第1期300-308,共9页Chinese Journal of Ship Research

基　　金：国家自然科学基金(52471320,51379044);江苏省高校优势学科建设工程(四期)(PAPD-2023)。

摘　　要：[目的]在恶劣海况下,双体船的垂荡和纵摇运动幅度过大,变化剧烈,严重影响适航性。为此提出低-高增益反馈控制和高阶扩张状态观测器(HOESO)补偿相结合的垂向稳定控制策略。[方法]首先,对耦合的双体船垂向运动模型进行近似解耦,将垂荡和纵摇运动的耦合、波浪扰动等视为集总扰动,将其扩张为3个虚拟状态量,设计HOESO提高扰动估计精度,并将估计值用于前馈补偿。其次,提出低-高增益反馈控制实现垂向运动的闭环稳定,减少低增益反馈控制的保守性,并保证T形翼和压浪板附体输入满足约束。最后,利用Matlab搭建的双体船垂向稳定控制系统进行仿真。[结果]仿真结果表明,所提控制策略能够有效抑制垂荡和纵摇运动幅度,提高垂向运动的稳定性。垂荡位移减小了49.47%,纵摇角减小了53.83%。[结论]该研究成果可为多体船的稳定控制提供参考,且具有一定的实际工程应用意义。[Objective]The heave and pitch motions of a catamaran under severe sea states vary drastically,and the amplitudes of the motions are too large,which seriously affects seaworthiness.To address this problem,this paper proposes a form of vertical stabilization control that combines low-high gain feedback control with high order extended state observer(HOESO)feed-forward compensation.[Method]First,the coupled catamaran vertical motion model is approximately decoupled,and the coupling of the heave and pitch motions,wave disturbances,etc.are regarded as lumped disturbances which are extended into three virtual state quantities.HOESO is designed to improve the accuracy of disturbance estimation,and the estimated values are used for feed-forward compensation.Second,a low-high gain feedback controller is proposed to achieve vertical stabilization and reduce the conservatism of the low gain feedback control while ensuring that the attachment inputs of the T-foil and flaps satisfy the constraints.Finally,MATLAB is used to build the vertical stabilization control system of the catamaran for simulation.[Results]The results show that the proposed control strategy can effectively suppress the amplitudes of the heave and pitch motions and improve the stability of the vertical motion.The heave displacement is reduced by about 49.47%,while the pitch angle is reduced by about 53.83%.[Conclusion]The results of this study have certain practical engineering significance and can provide valuable references for the stabilization control of multihull vessels.

关 键 词：船舶 运动控制 反馈控制 双体船 垂向稳定控制 扩张状态观测器 

分 类 号：U664.82[交通运输工程—船舶及航道工程]