本文针对带有饱和特性推进器，速度不可测量以及受外界未知扰动影响的动力定位（dynamic positioning，DP）船舶，设计了一种带有饱和处理模块的递归滑模动态面控制律。基于高斯误差函数设计了输入输出特性光滑的饱和处理模块对控制律的输出进行限幅处理，构造了高增益观测器利用船舶位置和艏向角信息估计船舶速度，设计了递归滑模动态面控制（dynamic surface control，DSC）策略增强控制律对系统参数摄动的非脆弱性，并通过选择合适的Lyapunov函数，证明了DP闭环控制系统的稳定性和所有信号的最终一致有界性。最终，对一艘供给船进行DP仿真分析，结果表明，所设计的控制律对外界扰动具有较强的抵抗能力和对系统参数摄动具有较强的非脆弱性，能够保证DP控制系统具有良好的动态特性和稳态性能。
Abstract
In this paper, a recursive sliding-mode dynamic surface control (DSC) law with a saturation handling module is designed for dynamic positioning (DP) of ships with the saturation characteristics of propellers, unmeasurable velocities and unknown external disturbances. A saturation handling module with smooth input and output characteristics is designed based on Gaussian error function to limit the output of the control law. A high-gain observer is constructed to estimate the unmeasurable velocities according to the position and heading angle information of the ship. And a recursive sliding mode DSC strategy is designed to enhance the non-fragility of the control law to the perturbation of system parameters. By properly choosing the Lyapunov function, the stability of the DP closed-loop control system and the ultimately uniformly boundedness of all signals are proved. Finally, the DP simulation analyses of a supply ship is carried out. The results show that the designed control law has a strong rejection ability to the external disturbances and a strong non-fragility to the perturbation of system parameters, which can ensure that the DP control system has a good dynamic quality and steady-state performance.
关键词
动力定位 /
饱和处理模块 /
输入饱和 /
递归滑模控制 /
非脆弱性
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Key words
dynamic positioning /
saturation handling module /
input saturation /
recursive sliding-mode control /
non-fragility
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