摘要
基于船舶非线性Bech模型提出了一种新型船舶航向控制器——高阶自抗扰控制器(ADRC),该控制器主要由三阶TD、四阶ESO和非线性状态误差反馈(NLSEF)三部分组成.设计扩张状态观测器时,采用二阶TD的滤波功能对系统输出进行噪声滤波,并用其滤波值来建立扩张状态观测器.通过航向改变、参数摄动、外界干扰的仿真试验表明,自抗扰控制器控制效果良好,具有较强的鲁棒性.
In this paper,a new type of ship course controller,a high order Active disturbance rejection controller（ADRC）,is designed based on the nonlinear model of ships,or the Bech model.The controller mainly consists of three parts： three-order TD,four-order ESO and nonlinear error feedback controller.In designing ESO,the wave-filter function of the two-order TD is adopted to filter the noise in the output system,while the value of the noise-filter is used to establish ESO.Emulation lab research on the course change,parameter stir and environment disturbance shows that active disturbance rejection controller is of good controlling effect and fairly strong robustness.
出处
《船舶工程》
CSCD
北大核心
2011年第6期61-64,共4页
Ship Engineering
基金
山东省自然科学基金(Y2007G36)
山东省高校科技计划项目(J11LG76)
山东交通学院院基金资助项目(Z200925)
