【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.更多还原

【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.更多还原