欠驱动水面船舶航迹跟踪自抗扰控制

李荣辉; 李铁山; 卜仁祥

doi:10.16411/j.cnki.issn1006-7736.2013.02.005

大连海事大学学报 >

2013 , Vol. 39 >Issue 2: 5 - 8

DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2013.02.005

交通运输工程

欠驱动水面船舶航迹跟踪自抗扰控制

李荣辉 ,
李铁山 ,
卜仁祥

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大连海事大学航海学院，辽宁大连 116026

李荣辉(1976 - ), 男, 博士生，副教授,船长，E-mail:lironghui@163.com.

收稿日期: 2012-12-21

网络出版日期: 2023-05-25

基金资助

国家自然科学基金资助项目（51179019）；辽宁省自然科学基金资助项目（20102012）；辽宁省高校优秀人才支持计划（LR2012016）；中央高校基本科研业务费（2012QN013）.

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Active disturbance rejection control based underactuated surface vessel path following

LI Rong-hui ,
LI Tie-shan ,
BU Ren-xiang

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Navigation College, Dalian Maritime University, Dalian 116026,China

Received date: 2012-12-21

Online published: 2023-05-25

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摘要

设计一种基于积分Backstepping的船舶航向非线性滑模控制器，实现船舶在大幅度改向操纵运动中航向准确快速跟踪控制。在采用Bech船舶操纵运动数学模型精确描述船舶大幅度改向运动性能的基础上，利用反演法设计航向改变控制算法，引入积分控制环节消除模型参数不确定性和风、浪、流等干扰影响，借助Lyapunov稳定性定理证明控制系统渐近稳定。对实船的仿真对比可知，本文设计的船舶航向控制器性能优越，控制舵角合理，控制输出航向对本船参数摄动及外界干扰不敏感，具有较强的鲁棒性.

关键词： 欠驱动船舶; 自抗扰控制(ADRC); 航迹跟踪; 扩张状态观测器

本文引用格式

李荣辉 , 李铁山 , 卜仁祥 . 欠驱动水面船舶航迹跟踪自抗扰控制[J]. 大连海事大学学报, 2013 , 39(2) : 5 -8 . DOI: 10.16411/j.cnki.issn1006-7736.2013.02.005

Abstract

In order to realize tracking control for underactuated surface vessel with internal dynamic uncertainties and external disturbances, a desired ship heading angle tracking equation which achieves cross track error convergence is designed. Using active disturbance rejection control (ADRC) technique, an ADRC controller of ship tracking is designed. The lateral drift resulted from wind and current is solved. Simulations are performed using nonlinear ship hydrodynamic model, and the results indicate that the controller is robust against the systemic variations and external disturbances, which can realize the accurate tracking of straight line and curve path for underactuated surface vessel.

Key words： underactuated surface vessel; active disturbance rejection control (ADRC); path following; extended state observer

参考文献

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［3］刘文江,隋青美,周风余. 基于自抗扰控制技术的船舶直线航迹控制器设计［J］.山东大学学报:工学版, 2010, 40(6):48-53. LIU Wen-jiang, SUI Qing-mei , ZHOU Feng-yu. Straight line tracking control of ships based on ADRC［J］. Journal of Shandong University:Engineering Science, 2010, 40(6): 48-53.(in Chinese)

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［8］贾欣乐,杨盐生. 船舶运动数学模型机理建模与辨识建模［M］. 大连：大连海事大学出版社，1999. JIA Xin-le, YANG Yan-sheng. Ship Motion Mathematical Model Mechanism Modeling and Identification Modeling［M］. Dalian：Dalian Maritime University Press,1999.（in Chinese）

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