CAJ | 학술논문

全垫升气垫船的操纵性较差，为使其在高速状态下能够准确的按设定航迹航行，设计了PID-非奇异终端滑模的航迹间接控制算法。外环的航迹引导采用PID控制，内环的航向跟踪采用非奇异终端滑模控制。利用滑模对非线性不确定性系统的强鲁棒性，弥补气垫船系数摄动问题，减小气垫船对外界干扰的敏感度。采用RBF神经网络辨识外界扰动来消除控制器抖振的影响，保持了滑模控制的强鲁棒性。仿真结果表明，在外界风干扰下，本文设计具有控制精度高、超调量小、稳定性好等特点，提高了气垫船的航迹保持能力。
전점승기점선적조종성교차，위사기재고속상태하능구준학적안설정항적항행，설계료PID-비기이종단활모적항적간접공제산법。외배적항적인도채용PID공제，내배적항향근종채용비기이종단활모공제。이용활모대비선성불학정성계통적강로봉성，미보기점선계수섭동문제，감소기점선대외계간우적민감도。채용RBF신경망락변식외계우동래소제공제기두진적영향，보지료활모공제적강로봉성。방진결과표명，재외계풍간우하，본문설계구유공제정도고、초조량소、은정성호등특점，제고료기점선적항적보지능력。
A PID-nonsingular terminal sliding mode indirect control system, which is designed for enhancing the maneuverability and realizing the trace-keeping control accurately of air cushion vehicle(ACV) in high speed state is proposed in the paper. PID is introduced to design tracking guidance control which is outer loop. The nonsingular terminal sliding model control is researched for the course control that is inner loop. Sliding mode control as well known duce to its unique robust control performance for nonlinearity and uncertainty system. Then it is used to compensate for the uncertainties and reduce sensitivity to external disturbance of ACV. In order to reduce the chattering of the sliding mode control, a RBF neural network is introduced to approximate external disturbances to offset the disadvantages and guarantee robust performance. Under conditions of wind disturbances, the simulation results of the PID-nonsingular terminal sliding mode control system can achieve good stability and high precision.