Stability control of parallel three-DOF ship-borne stabilization platform based on ADRC

  • XU Meng ,
  • DU Jia-lu ,
  • HE Guang-jian ,
  • SUN Yu-qing ,
  • LI Dong-hai
Expand
  • (1.a. Marine Engineering College ;b. School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China;2. Department of Thermal Engineering,Tsinghua University, Beijing 100084, China)

Received date: 2019-08-29

  Revised date: 2019-09-29

  Online published: 2019-09-29

Abstract

Aiming at the stabilization control problem of parallel three-degree-of-free ship-borne stabilization platform under dynamic uncertainties and unknown timevarying external disturbances, the active disturbance rejection control (ADRC) technique was used to construct an extended state observer to online estimate the total disturbances resulted from system dynamic uncertainties, unknown external disturbances as well as the coupling between the platform motion state variables. The ship-borne stabilization platform PID feedback control law was designed and the estimates of the total disturbances was fed forward to the control inputs to compensate the total disturbances so as to achieve stable control of the platform. Theoretical analysis indicates that the designed ADRC stabilization control law of ship-borne stabilization platform can keep its upper support surface stable in the inertial space, and ensure uniformly ultimately bounded of all signals in the ship-borne stabilization platform closed-loop control system. The simulation results verify the effectiveness of the designed stabilization law of the ship-borne stabilization platform and its robustness to unknown time-varying external disturbances.

Cite this article

XU Meng , DU Jia-lu , HE Guang-jian , SUN Yu-qing , LI Dong-hai . Stability control of parallel three-DOF ship-borne stabilization platform based on ADRC[J]. Journal of Dalian Maritime University, 2020 , 46(1) : 20 -28 . DOI: 10.16411/j.cnki.issn1006-7736.2020.01.003

References

[1]杨盐生.不确定系统的鲁棒控制及其在船舶运动控制中的应用[D]. 大连海事大学,2000. [2]张秀凤, 尹勇, 金一丞.规则波中船舶运动六自由度数学模型[J].交通运输工程学报, 2007, 7(3):40-43 [3]陈万紫, 张培珍, 黄健儿.动态海面上方船舶六自由度运动仿真[J].海洋技术学报, 2019, 38(1):44-49 [4]杜佳璐, 杨杨, 郭晨, 等.基于高增益观测器的船舶动力定位系统的输出反馈控制[J].控制理论与应用, 2013, 30(11):1486-1491 [5]赵志高, 杨建民, 王磊, 等.动力定位系统发展状况及研究方法[J].海洋工程, 2002, 20(1):91-97 [6]刘翠梅.神经网络算法在船舶动力定位系统中的应用[J].舰船科学技术, 2019, 41(2):46-48 [7]程佳.并联4TPS-1PS 型电动稳定跟踪平台的特性及控制研究[D]. 浙江大学, 2008. [8]刘义德.基于并联机构的稳定平台建模与控制[D]. 哈尔滨工业大学. [9]李伟.船舶液压稳定平台的设计与分析[D]. 大连海事大学, 2010. [10]De Zeeuw W.A. Ship motion compensation platform for high payloads[D]. Delft: Delft. University of Technology, 2012. [11]李筱凡.并联船载稳定平台的研究[D]. 江苏科技大学, 2013. [12]王建.并联型三自由度波浪补偿稳定平台关键技术研究[D]. 江苏科技大学, 2014. [13]苏士如.并联四自由度舰载稳定平台特性及控制研究[D]. 燕山大学, 2014. [14]王爱国, 陈健伟.基于的-并联机构控制系统仿真[J].工程设计学报, 2016, 23(2):172-180 [15]韩京清.自抗扰控制技术[J].前沿科学, 2007, 1(1):24-31 [16]Dasgupta.A Newton-Euler Formulation for the Inverse Dynamics of the Stewart Platform Manipulator[J].Mechanism and Machine Theory, 1998, 3(8):1135-1152 [17]韩京清.自抗扰控制技术:估计补偿不确定因素的控制技术[M]. 国防工业出版社, 2008. [18]Zheng Q, Gao L Q, Gao Z Q.On stability analysis of active disturbance rejection control for nonlinear time-varying plants with unknown dynamics[C]. Decision and Control, 2007 46th IEEE Conference on. IEEE, 2008. [19]何景峰.液压驱动六自由度并联机器人特性及其控制策略研究[D]. 哈尔滨工业大学, 2007. [20]Journee J M J, Pinkster J A.Introduction in ship hydromechanics[D]. Delft University of Technology, 2002. [21]杭栋栋.基于船舶运动响应数据的海浪估计方法研究[D]. 哈尔滨工程大学, 2013. [22]Fossen T I.Handbook of marine craft hydrodynamics and motion control[J].IEEE Control Systems, 2016, 36(1):78-79
Outlines

/