【作者】 袁士春； 郭晨； 吕进；

【Author】 YUAN Shi-chun1,2,GUO Chen1,Lü Jin1(1.School of Electric and Automation Engineering,Dalian Maritime University,Dalian 116026,China;2.Fishing Vessel Register of Jiangsu,Nantong 226006,China)

【机构】 大连海事大学电气与自动化学院；

【摘要】 针对船舶运动的时变非线性特性,提出了基于切换线性变参数(LPV)航向控制算法,实现船舶航向的全局控制。船舶航向控制在较大航速范围内进行,存在较强的非线性,很难在整个航速范围内设计单一的LPV鲁棒控制器,因此,设计多个控制器是合理的选择。介绍了切换LPV系统研究的基本思想,阐述了稳定的滞后切换LPV方法,在此基础上提出了忽略变参数导数项的滞后切换LPV方法,并将此方法用于船舶航向控制。对Nomoto船舶运动模型作变量代换,得到LPV船舶运动模型。以航速为条件将船舶模型划分为高速和低速2个部分,每个部分用LPV多胞设计技术,分别设计满足H∞鲁棒性能的输出反馈航向控制器。再利用所提出的LPV控制器的切换方法,实现2个控制器重叠部分之间的切换。以5446箱班轮为被控制对象,仿真结果验证了在航速变化和外界干扰的条件下所设计控制器的有效性。更多还原

【Abstract】 A new approach to design a systematic switching linear parameter-varying controller to determine if it is practical to use for ship steering was presented,which aimed at nonlinear of ship steering.The approach can control ship steering in low and high ship velocity regions.In ship steering control,the ship dynamics might be different in whole ship velocity regions.To design a LPV is difficult,so it is a wise choose to design more controllers.The idea of switching basic methods of LPV control was introduced,and the parameter-dependent hysteresis switching logics method of switching LPV was expatiated.Based on the method,the hysteresis switching logics of switching LPV in which the parameter derivatives were ignored was put forward.The proposed switching LPV control scheme was applied to ship steering.The ship model was divided into two regions with high speed and low speed.The Nomoto ship steering equation was translated into the LPV model equation with ship velocity dependent through variable-substitution in each region.The LPV model was apt to have the polytopic gain scheduled controller.Output feedback controller of each region satisfying H ∞ performance was designed via LPV convex polytope techniques,which was suitable for a specific parameter subspace.The proposed switching LPV control scheme was applied to switch the two controls according to ship velocity.Simulation results on a 5446 TEU MMG ship model prove that the ship steering with the LPV controllers has good performance as the ship velocity varies and environment is disturbed.更多还原