摘要
针对Backstepping算法在船舶航向自动舵设计中易产生“膨胀项”的问题,提出一种基于反演的动态面滑模控制方法,利用一阶低通滤波器特性,阻止“膨胀项”的产生,减少了计算。引入滑模控制,使用饱和函数取代符号函数,使系统状态更快趋近于滑动模态,降低系统的抖振。综合考虑航向跟踪误差、虚拟控制以及滤波误差,构造Lyapunov函数对系统稳定性进行证明。Simulink仿真结果表明,所设计的控制器能够对不同情况的参考输入进行准确跟踪,具有较强的鲁棒性。
Considering the problem that back-stepping algorithm is easy to produce“expansion item”in the design of the ship’s course autopilot,the dynamic surface and sliding mode control with back-stepping was proposed.The first-order low-pass filter was used to prevent the“differential expansion”and reduce the calculation.By introducing the sliding mode control,the saturation function was used instead of sign function to make the system state closer to the sliding mode,and reduce the chattering.Considering the tracking error,virtual control and filtering error,the stability of the system was demonstrated by the Lyapunov function.The simulation results by Simulink verified that the controller can follow different desired reference accurately with strong robustness.
作者
李悦琪
李伟
王启福
LI Yue-qi;LI Wei;WANG Qi-fu(Navigation College,Dalian Maritime University,Dalian Liaoning 116026,China)
出处
《船海工程》
北大核心
2019年第A01期271-274,279,共5页
Ship & Ocean Engineering
基金
国家自然科学基金项目(51179019,61374114)
辽宁省教育厅重点实验室基础项目(LZ2015006)
辽宁省自然科学基金(20170540098)
中央高校基本科研业务费项目(3132017115).
关键词
反演
一阶低通滤波器
动态面滑模控制
航向控制
back-stepping
first-order low pass filter
dynamic surface and sliding mode control
ship course control
