CAJ | 학술논문

针对锚泊辅助动力定位控制系统中的不确定性问题，考虑系统的计算延时，提出一种高阶线性扩张状态观测器（ ESO）用来估计系统下一采样时刻的总扰动，并在闭环中将其实时补偿，这种方法控制参数少、简洁且易于工程实施。本文以一艘救助船为研究对象，仿真验证了所提算法不仅具有高的控制精度、快速响应能力、抗扰性能，还能减少执行机构的磨损；并进一步以一艘供给船验证了所提算法的鲁棒性。
침대묘박보조동력정위공제계통중적불학정성문제，고필계통적계산연시，제출일충고계선성확장상태관측기（ ESO）용래고계계통하일채양시각적총우동，병재폐배중장기실시보상，저충방법공제삼수소、간길차역우공정실시。본문이일소구조선위연구대상，방진험증료소제산법불부구유고적공제정도、쾌속향응능력、항우성능，환능감소집행궤구적마손；병진일보이일소공급선험증료소제산법적로봉성。
A high order linear extended state observer ( ESO) is proposed in this paper to predict the total disturb?ance of thruster?assisted position mooring system in the next sample time, which is characterized by large uncertain?ties and calculation delay, and compensate it in the closed loop with control actions. This method requires fewer pa?rameters and it is simple for engineering implementation. A rescue ship and a supply ship are employed for simula?tion studies. The simulation results indicated that the proposed method not only possesses high control accuracy, fast response, and disturbance rejection capability, but also can reduce the wear and tear of the actuators. The ro?bustness of the proposed algorithm is validated.