摘要
针对全垫升气垫船运动,建立了航迹非线性运动方程,在此基础上进行了航迹反步控制方法研究.反步控制方法首先针对所建立的气垫船四阶航迹非线性系统,将系统分为4个子系统,每个子系统定义了1个误差变量和1个控制量,4个控制量中有3个控制为虚拟控制,并针对每个子系统定义了Lyapunov函数,基于Lyapunov稳定性定理和指数稳定性定理,推导出4阶运动方程,最后得到气垫船航迹控制律.将得到的控制律应用到气垫船运动半实物仿真系统中,根据控制台设定的航迹进行了航迹跟踪仿真研究.仿真结果表明,所研究的航迹自适应反步控制器,在较高航速下,能很好地跟踪所设定的航迹,取得了良好控制效果.
A set of nonlinear equations were set up for a navigation system of an aircushion vessel. A backstepping control method was researched for the navigation system. The fourth-order nonlinear navigation system was divided into four subsystems. An error variable and a control variable were defined for each subsystem. Three control variables were actually virtual control variables. A Lyapunov function was defined for each subsystem. The fourth motion equation were derived based on Lyapunov stability theorem and exponential convergence theorem. Control laws were designed based on the backstepping method, and then used in a hardware-in-loop simulation system designed to study the behaviors of air cushion vehicles. The results showed that the proposed navigation system can follow a set path at high speed and has good control effect.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2008年第3期251-255,共5页
Journal of Harbin Engineering University
关键词
气垫船
航迹控制
航迹非线性方程
反步控制方法
aircushion vessel
path control
path nonlinear equation
backstepping control method
