【摘要】 针对欠驱动的船用吊艇收放装置中液压缸位移饱和问题,提出并设计主动式减摆系统抗饱和两步控制。根据抗饱和统一框架设计思路,忽略吊艇收放装置液压位置输出的非线性限制,通过反步法设计满足系统性能的控制器,然后运用条件技术加入补偿环节来改善系统进入非线性区域时的性能。运用反步法和条件技术设计,既保证系统全局稳定又使其呈指数收敛。相比其他主动式减摆控制,考虑了实际系统中输出饱和问题。将液压缸位移控制问题转化为积分抗饱和进行解决。试验结果表明,当主动式减摆系统存在饱和时,两步控制策略能大幅提高减摆效果。该控制方法实用性强,可为船载动态设备控制设计提供借鉴。更多还原

【Abstract】 There is displacement windup in hydraulic cylinder of under-actuated marine boat davit. So two-step anti-windup control on active anti-sway is proposed and designed to solve the problem. The control method is designed based on unified framework of anti-windup. Nonlinear constraints are ignored in hydraulic position output of marine boat davit, and the controller is designed to satisfy system performance using backstopping method. Then, compensation is added with condition technology to improve system performance in the nonlinear region. This control is designed using backstopping method and condition technology, which can ensure the stability of the system and converge exponentially. The output windup is considered in actual system compared to other active anti-sway control. The problem of displacement control is solved to translate into integral anti-windup in hydraulic cylinder. The experimental results show that when active anti-sway system is saturated, two-step control strategy can greatly improve anti-sway effect. The practicability of two-step control is strong, which can provide reference for control design of dynamic equipment on ships.更多还原