基于自适应反步法的干扰补偿挖泥船动力定位控制

为解决挖泥船在挖泥强反作用干扰或恶劣环境干扰下,动力定位控制系统不稳定的难题,提出采用自适应反步法来解决挖泥船的动力定位问题.由于自适应算法采用实时估计干扰值并进行前馈补偿,而不是在挖泥机构上额外加装传感器的方法,从而简化了控制机构并同时保证了控制的效果.自适应控制能前馈补偿反作用干扰及环境干扰对船体的作用,使船体能以最小的误差与冲击稳定在指定位置.定位控制在强干扰作用下依然能快速跟踪设定位置,而且保证控制系统全局渐近稳定.仿真结果表明,动力定位系统在强干扰环境中依然能够保持良好跟踪的动静态性能.

Novel disturbance compensating dynamic positioning of dredgers based on adaptive backstepping

In order to deal with the dynamic positioning system control problems of dredgers working under strong dredging reaction or harsh environments, an adaptive backstepping method is proposed. Disturbances are estimated and compensated for by the adaptive method without extra sensors on dredging equipment, and the control mechanism is simplified. Adaptive control is used to compensate for the reaction and environmental disturbances on the dredger, so the dredger can maintain the desired position with a minimum error and shock. The proposed adaptive robust controller guarantees the global asymptotic stability of the closed-loop system and rapid position tracking of the dredger. The simulation results show that the proposed controller has superior performance in position tracking and robustness to large disturbances.