海上舷梯前端位置预设时间鲁棒随动控制

doi:10.16411/j.cnki.issn1006-7736.2025.03.002

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大连海事大学学报 ›› 2025, Vol. 51 ›› Issue (3) : 11-19. DOI: 10.16411/j.cnki.issn1006-7736.2025.03.002

海上舷梯前端位置预设时间鲁棒随动控制

胡峻，杜佳璐^*，李萌，林泽

作者信息 +

Prescribed-time robust servo control of the tip position of offshore gangway

HU Jun, DU Jialu^*, LI Meng, LIN Ze

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文章历史 +

摘要

安装在运维船上具有波浪补偿功能的海上舷梯可通过补偿波浪引起的运维船摇荡运动，使其前端跟随浮式海上风电平台上搭接点上方某一合适位置运动，从而在运维船与浮式海上风电平台之间建立一个安全稳定的转运通道。本文考虑了舷梯运动数学模型参数不确定和运维船摇荡运动对舷梯的广义扰动力。首先，设计一个新的预设时间函数，构造新的预设时间扰动观测器(PTDO)，估计由舷梯运动数学模型参数不确定和运维船摇荡运动对舷梯的广义扰动力构成的集总扰动，可保证集总扰动估计误差在预设估计时间内收敛至零。其次，基于构造的新的PTDO、反步法和预设时间控制方法，设计海上舷梯前端位置预设时间鲁棒随动控制律，使得海上舷梯前端位置跟踪误差在预设调节时间内收敛到零。理论分析及仿真实验验证了本文设计的海上舷梯前端位置随动控制律的有效性和鲁棒性。

Abstract

The offshore gangway with wave compensation function installed on the operation and maintenance (O&M) vessel can compensate for the motion of the O&M vessel caused by waves, and make its tip follow a position above the connection point of the floating offshore wind power platform (FOWPP), thereby establishing a safe and stable transfer channel between the O&M vessel and the FOWPP. This paper considered parameter uncertainties of the gangway motion mathematical model and the generalized disturbance forces due to the motion of the O&M vessel. Firstly, a new prescribed-time function was designed, and a new prescribed-time disturbance observer (PTDO) was constructed to estimate the total disturbances consisting of parameter uncertainties of the gangway motion mathematical model and the generalized disturbance forces due to the motion of the O&M vessel, and make the total disturbance estimation errors converge to zero in a prescribed estimation time. Secondly, combining the constructed new PTDO, the backstepping control method and the prescribed-time control method, a prescribed-time robust servo control law of the tip position of gangway was designed to make the tracking errors of the tip position of gangway converge to zero in a prescribed settling time. Theoretical analysis and simulations verify the effectiveness and robustness of the designed control law.

导出引用

胡峻, 杜佳璐, 李萌, 林泽. 海上舷梯前端位置预设时间鲁棒随动控制[J]. 大连海事大学学报. 2025, 51(3): 11-19 https://doi.org/10.16411/j.cnki.issn1006-7736.2025.03.002

HU Jun, DU Jialu, LI Meng, LIN Ze. Prescribed-time robust servo control of the tip position of offshore gangway[J]. Journal of Dalian Maritime University. 2025, 51(3): 11-19 https://doi.org/10.16411/j.cnki.issn1006-7736.2025.03.002

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