CAJ | 학술논문

为实现水面船舶的航迹精确跟踪控制，考虑了海浪干扰对控制系统的影响，提出了基于高增益观测器的鲁棒最优控制方法。首先，针对系统内部不确定性和外界扰动对控制精度带来的影响，建立了含有系统复合扰动的非线性航迹跟踪模型；进而，设计高增益观测器对系统复合扰动进行估计和补偿，并设计一个带有前馈补偿器的最优控制器，获得系统的期望跟踪性能。最后针对某船舶进行了航迹跟踪控制的数值仿真试验，仿真结果表明设计的控制器对外界海浪干扰有较好的抑制作用，可以实现船舶航迹的精确跟踪。
위실현수면선박적항적정학근종공제，고필료해랑간우대공제계통적영향，제출료기우고증익관측기적로봉최우공제방법。수선，침대계통내부불학정성화외계우동대공제정도대래적영향，건립료함유계통복합우동적비선성항적근종모형；진이，설계고증익관측기대계통복합우동진행고계화보상，병설계일개대유전궤보상기적최우공제기，획득계통적기망근종성능。최후침대모선박진행료항적근종공제적수치방진시험，방진결과표명설계적공제기대외계해랑간우유교호적억제작용，가이실현선박항적적정학근종。
To achieve path following control for a surface ship, a high gain observer based robust optimal controller is proposed under the condition of random wave disturbances. Firstly, considering the influence by internal uncertainties and external disturbances, a nonlinear path following model with compound disturbances is established. Then, a high gain observer is presented to estimate and compensate the disturbances. An optimal controller with a feed-forward compensator is employed for desired tracking performance. At last, path following simulations are carried out to verify the effectiveness of the proposed method. Simulation results show that the proposed can suppress the wave disturbances successfully as well as the accurate tracking performance.