魯棒自適應(yīng)航向控制器的設(shè)計(jì)

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1、摘要本文對(duì)基于逆推(Backstepping)方法的不確定非線性系統(tǒng)的控制理論及其在船舶運(yùn)動(dòng)控制中的應(yīng)用進(jìn)行了研究。船舶航向控制器的設(shè)計(jì)是船舶運(yùn)動(dòng)控制領(lǐng)域內(nèi)的重要研究課題之一，許多專家學(xué)者一直在致力于該方向的研究工作。但是當(dāng)今大部分船舶航向控制器的設(shè)計(jì)仍然采用Nomoto線性模型，忽略了船舶操縱運(yùn)動(dòng)的非線性因素，未能徹底解決船舶的航向控制非線性問題。針對(duì)這一問題，本文基于逆推方法設(shè)計(jì)了自適應(yīng)控制器，通過仿真檢驗(yàn)，結(jié)果表明，所設(shè)計(jì)的自適應(yīng)航向控制器可以較好的解決這一問題。本文首先概述了自動(dòng)舵、非線性控制理

2、論和逆推方法的發(fā)展。介紹了逆推算法的設(shè)計(jì)原理，進(jìn)而總結(jié)出方法的優(yōu)越性和局限性。船舶運(yùn)動(dòng)模型是研究船舶運(yùn)動(dòng)控制的基礎(chǔ)，針對(duì)船舶模型的非線性、時(shí)變性和不確定性的特點(diǎn)，建立了非線性數(shù)學(xué)模型?；谀嫱圃O(shè)計(jì)方法，首先設(shè)計(jì)了一種參數(shù)已知的船舶航向控制器；然后對(duì)含有不確定參數(shù)和外界干擾的船舶運(yùn)動(dòng)模型進(jìn)行自適應(yīng)控制器的設(shè)計(jì)，同時(shí)對(duì)虛擬控制增益參數(shù)進(jìn)行了反奇異值設(shè)計(jì)，不僅保證了閉環(huán)系統(tǒng)是全局一致最終有界，并且可以通過適當(dāng)?shù)恼{(diào)整參數(shù)來獲得更好的控制性能，在自適應(yīng)律中引入了“泄露項(xiàng)”，以防止參數(shù)漂移。最后，在Matlab的S

3、imulink下，對(duì)所設(shè)計(jì)的自適應(yīng)航向控制器進(jìn)行仿真檢驗(yàn)，仿真結(jié)果表明，所設(shè)計(jì)的自適應(yīng)航向控制器具有良好的控制能力。關(guān)鍵詞：船舶航向控制；逆推設(shè)計(jì)；自適應(yīng)控制；非線性；參數(shù)估計(jì)RobustAdaptiveNonlinearDesignofShipCourseControllerAbstractInthispaper,thecontrolproblemofuncertainnonlinearsystembasedontheBacksteppingdesignmethodisdiscussed，andits

4、applicationtoshipcoursecontrollerisstudied．Theshipcoursecontrollerisoneofthemostimportantresearchtopicsofshipmotioncontrol，soalotofexpertsandscholarsareworkedhardonit．Nowadays，mostdesignsforshipcoursecontrollerbaseonlinearNomotomodel，whichneglectthenonli

5、nearfactorsofshipmotioncontrol，sotheproblemoftheshipmotioncontrolcan’tbesolvedcompletely．Aimatthisproblem，basedonBacksteppingdesignmethod，aadaptiveshipcoursecontrollerisdesigned．Thesimulationresultsshowthattheadaptivecoursecontrollerhasgoodperformance．Th

6、eshipmotionmodelsarethebasisofresearchingshipmotionmaneuvering．Aimedatthecharacteristicsofships，nonlinearmathematicalmodelofshipmotionisestablishedjnthepaper．Backsteppingdesignmethodisintroduced，anditsadvantagesanddisadvantagesaresummarized．BasedonBackst

7、eppingdesignmethod，ashipcoursecontrollerisdevelopedfortheshipmotionmodelwhichhasknownparameter．Then，anadaptivecontrollerisdevelopedfortheshipmotionmodelwhichhasunknownparameteranddisturbance，suchthattheresultingclosed—loopsystemisgloballyuniformlyultimat

8、elybounded(GUUB)andabettertransientperformancecanbeachievedbyanappropriateparametertuning．Thesimulationresultsshowthattheadaptivecoursecontrollerhasgoodperformance．Keywords：Shipcoursecontrol，Baeksteppingdesign，Adaptivecont