哈尔滨工程大学学报
哈爾濱工程大學學報
합이빈공정대학학보
JOURNAL OF HARBIN ENGINEERING UNIVERSITY
2013年
10期
1249-1253
,共5页
谢文博%付明玉%丁福光%张健
謝文博%付明玉%丁福光%張健
사문박%부명옥%정복광%장건
动力定位%输入时滞%状态时滞%鲁棒控制%滑模控制
動力定位%輸入時滯%狀態時滯%魯棒控製%滑模控製
동력정위%수입시체%상태시체%로봉공제%활모공제
dynamic positioning%control input time delay%states time delay%robust control%sliding mode control
针对动力定位船定位作业时推进器、舵等执行机构的时滞问题,设计了一种根据时滞上界选取参数的鲁棒滑模控制器,以降低控制输入时滞对DP系统的影响。首先将多执行机构时滞简化为水平面三自由度的控制输入时滞,再将带有输入时滞的系统模型等效为状态时滞系统,然后针对未知有界干扰给出了带有时滞滑模项的鲁棒滑模控制律。在稳定性分析中,通过设计合适的Lyapunov-Krasovskii泛函,给出了系统稳定时控制增益的选取条件,证明了系统控制误差收敛于零。与传统的定位作业控制方法相比,该算法对时滞影响有一定的鲁棒性。仿真中利用PID和时滞鲁棒滑模控制算法,对比了船舶定位作业时的控制效果,说明了本文所提出算法的有效性。
針對動力定位船定位作業時推進器、舵等執行機構的時滯問題,設計瞭一種根據時滯上界選取參數的魯棒滑模控製器,以降低控製輸入時滯對DP繫統的影響。首先將多執行機構時滯簡化為水平麵三自由度的控製輸入時滯,再將帶有輸入時滯的繫統模型等效為狀態時滯繫統,然後針對未知有界榦擾給齣瞭帶有時滯滑模項的魯棒滑模控製律。在穩定性分析中,通過設計閤適的Lyapunov-Krasovskii汎函,給齣瞭繫統穩定時控製增益的選取條件,證明瞭繫統控製誤差收斂于零。與傳統的定位作業控製方法相比,該算法對時滯影響有一定的魯棒性。倣真中利用PID和時滯魯棒滑模控製算法,對比瞭船舶定位作業時的控製效果,說明瞭本文所提齣算法的有效性。
침대동력정위선정위작업시추진기、타등집행궤구적시체문제,설계료일충근거시체상계선취삼수적로봉활모공제기,이강저공제수입시체대DP계통적영향。수선장다집행궤구시체간화위수평면삼자유도적공제수입시체,재장대유수입시체적계통모형등효위상태시체계통,연후침대미지유계간우급출료대유시체활모항적로봉활모공제률。재은정성분석중,통과설계합괄적Lyapunov-Krasovskii범함,급출료계통은정시공제증익적선취조건,증명료계통공제오차수렴우령。여전통적정위작업공제방법상비,해산법대시체영향유일정적로봉성。방진중이용PID화시체로봉활모공제산법,대비료선박정위작업시적공제효과,설명료본문소제출산법적유효성。
To solve the time-delay problem of such actuators as thrusters and rudders in the positioning operation of dynamic positioning ( DP ) vessel, a kind of robust sliding mode controller has been designed for reducing negative effects of control input time-delay, with controller parameters chosen according to the upper bound of time-delay. First, the time-delay of the multi-actuator is simplified as a 3 degree-of-freedom control input time-delay, then a system model with input time-delay is equivalent to a state time-delay system, subsequently, for an unknown bounded environmental disturbance, the robust sliding mode control law with time-delay sliding mode item is given. In the stability analysis, by designing a proper Lyapunov-Krasovskii function, the selection condition for controlling gain in system stabilization is given, so to verify that the system control error is convergent to zero. In comparison with traditional DP control methods, the proposed algorithm has proper robustness for the time-delay influence. In the simulation case, PID and time-delay robust sliding mode controllers are utilized to compare the control effects in the positioning of vessel, which show the effectiveness of algorithm proposed in the paper.