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针对仅使用槽道推进器提供横向推力的动力定位船舶路径跟踪控制问题,建立慢变环境干扰影响下的非线性船舶数学模型,设计带有自适应干扰补偿的反步控制算法来消除环境干扰的影响。引入平行目标接近(CB)导引算法为跟踪控制生成期望速度矢量信号,通过与所提出的自适应反步控制算法相结合,得到不受船舶驱动特性限制的全速度范围动力定位船舶导引跟踪控制算法,应用李雅普诺夫稳定性理论证明系统跟踪误差渐进收敛到零。仿真结果表明通过调整导引算法参数可以调节船舶跟踪过程表现,并可以得到较好的控制精度。
Aiming at the problem of tracking control of ship’s dynamic positioning ship with lateral thrust using only channel propeller, a nonlinear ship mathematical model under the influence of slowly varying environmental disturbance is established, and a backstepping control algorithm with adaptive disturbance compensation is designed to eliminate environmental disturbance influences. A parallel target approach (CB) guidance algorithm is introduced to generate the desired velocity vector signal for tracking control. By combining with the proposed adaptive backstepping control algorithm, a full-speed dynamic range-oriented ship guidance and tracking Control algorithm, the Lyapunov stability theory is applied to prove that the tracking error of the system gradually converges to zero. The simulation results show that the performance of the ship tracking process can be adjusted by adjusting the parameters of the guidance algorithm, and better control accuracy can be obtained.