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为解决船舶航向控制系统的模型不确定性、高度非线性以及状态变量与控制输入的约束问题,提出一种基于滑模控制的反馈控制算法.利用递归迭代设计法,将非线性滑动模态建立到扩展状态空间,并结合增量反馈控制,无须对不确定项进行估计.在系统输入增益符号已知条件下可自动寻找使系统稳定的控制量,避免变结构控制的抖振以及输出反馈控制的稳态误差及超调,并保证闭环系统的高阶状态变量严格有界.应用船舶非线性水动力模型进行航向控制仿真.结果表明,控制器对系统参数摄动及外界干扰不敏感,具有强鲁棒性.
To solve the problem of model uncertainty, high degree of nonlinearity and constraint of state variables and control inputs, a feedback control algorithm based on sliding mode control is proposed to solve the ship heading control system. The nonlinear sliding mode is established by recursive iterative design To extended state space, and combined with incremental feedback control, it is not necessary to estimate the uncertainties.Under the condition of the known input of the system gain signal, the control amount of the system can be automatically sought to avoid the chattering of variable structure control and the output feedback control The steady-state error and overshoot of the closed-loop system are guaranteed, and the high-order state variables of the closed-loop system are guaranteed to be strictly bounded. The ship nonlinear hydrodynamic model is used to simulate the heading control. The results show that the controller is insensitive to system parameter perturbation and external disturbance, Strong robustness.