应用科学学报 ›› 2012, Vol. 30 ›› Issue (2): 203-208.doi: 10.3969/j.issn.0255-8297.2012.02.015

• 论文 • 上一篇    下一篇

结合非线性动态面和前馈补偿的挖泥船动力定位控制

张宇华1;2, 姜建国1, 郜登科1   

  1. 1. 上海交通大学电力传输与功率变换控制教育部重点实验室,上海200240
    2. 河南理工大学电气工程与自动化学院,河南焦作454100
  • 收稿日期:2011-02-25 修回日期:2011-07-05 出版日期:2012-03-26 发布日期:2012-03-30
  • 通信作者: 张宇华,博士生,副教授,研究方向:船舶动力定位,E-mail: zhyh@sjtu.edu.cn;
  • 作者简介:张宇华,博士生,副教授,研究方向:船舶动力定位,E-mail: zhyh@sjtu.edu.cn;姜建国,教授,博导,研究方向:电力电子、船舶电力推进,E-mail: jiang@sjtu.edu.cn
  • 基金资助:

    国家“973”重点基础研究发展计划基金(No 2005CB221505);国家“863”高技术研究发展计划基金(No 2011AA050403);河南省控制工程重点学科开放实验室开放基金(No.KG2009-02) 资助

Dynamic Positioning of Dredgers Using Nonlinear Dynamic Surface Control and Feed-Forward Compensation

ZHANG Yu-hua 1;2, JIANG Jian-guo1, GAO Deng-ke1   

  1. 1. Key Laboratory of Control of Power Transmission and Transformation, Ministry of Education,
    Shanghai Jiaotong University, Shanghai 200240, China
    2. School of Electrical Engineering and Automation, Henan Polytechnic University,
    Jiaozuo 454100, Henan Province, China
  • Received:2011-02-25 Revised:2011-07-05 Online:2012-03-26 Published:2012-03-30

摘要:

 针对挖泥船受挖泥强干扰作用的特点,提出采用前馈补偿与非线性动态面相结合的控制方法,解决挖泥船动力定位的控制问题. 挖泥干扰的前馈补偿与动态面控制算法相结合的控制方法能保证挖泥船动力定位系统的渐近稳定. 在反步控制的设计中加入一阶低通滤波器形成的动态面控制,避免了对非线性模型的多次微分,简化了控制器的设计. 仿真结果表明,该方法对挖泥船动力定位有较好的控制效果.

关键词: 动力定位, 非线性控制, 动态面控制, 挖泥船, 前馈补偿

Abstract:

To deal with difficulties in the control of dynamic positioning of dredgers under large dredging forces reaction, a method of combining dynamic surface control and feed-forward compensation is proposed to be used in dynamic positioning of dredgers. Dredging forces can be feed-forward compensated by sensors, and the dynamic surface controller guarantees global asymptotic stability of the closed-loop system. A
first-order low-pass filter in the back-stepping design process allows the dynamic surface control technique to be implemented without differentiating any model nonlinearities, which can significantly simplify the design. Simulation results show that the proposed method has satisfactory performance.

Key words: dynamic positioning, nonlinear controller, dynamic surface control, dredger, feed-forward compensation

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