摘要
针对高速多体船在航行中纵摇和升沉运动幅度过大的问题,提出一种有限时间减纵摇控制方法.建立由T形翼和压浪板作为减摇附体的多体船垂向控制模型,并通过数学变换将其转化为解耦的纵摇和升沉的控制模型,简化多变量控制设计的复杂性.设计有限时间扩张观测器在线估计纵摇和升沉运动的时变耦合项,并进行实时补偿控制.在此基础上,针对解耦的纵摇和升沉的运动模型,提出有限时间反馈控制律,提高系统的减摇性能和抑制干扰能力.将设计的反馈控制和补偿控制进行综合得出虚拟控制量,再通过减摇附体控制分配矩阵获得T形翼和压浪板的攻角,并证明闭环系统的稳定性.通过数字仿真验证所提算法的有效性,升沉减少20%~35%,纵摇减少40%~50%.
Aiming at the problem of excessive pitch and heave motion of high-speed multi-body ship during navigation,a finite-time pitch reduction control method was proposed.The vertical control model of multi-hull ship with T-wing and surge plate as anti-rolling appendages was established.It is transformed into decoupled pitch and heave control model by mathematical transformation,which simplifies the complexity of multivariable control design.A finite-time extended observer was designed to estimate the time-varying coupling term of pitch and heave motion online,and real-time compensation control was performed.On this basis,aiming at the decoupled pitching and heave motion models,a finite-time feedback control law was proposed to improve the anti-rolling performance and interference suppression ability of the system.The designed feedback control and compensation control were integrated to obtain the virtual control quantity,and then the angles of attack of T-wing and surge plate were obtained through the distribution matrix of anti-rolling appendage control,and the stability of the closed-loop system was proved.The effectiveness of the proposed algorithm was verified by digital simulation.Heave and pitch were reduced by 20%~35%and 40%~50%,respectively.
作者
张军
刘志林
戴小康
李国胜
ZHANG Jun;LIU Zhilin;DAI Xiaokang;LI Guosheng(Electrical and Information Engineering College,Jiangsu University,Zhenjiang 212013,China;College of Automation,Harbin Engineering University,Harbin 150001,China)
出处
《武汉理工大学学报（交通科学与工程版）》
2021年第3期512-516,523,共6页
Journal of Wuhan University of Technology（Transportation Science & Engineering）
基金
国家自然科学基金项目(51379044,41674037)
江苏省高校优势学科建设工程(三期)项目(PAPD-2018-87)。
