波浪作用下船舶航向自抗扰控制设计及参数配置

针对具有内部参数不确定性和外部扰动的海上船舶设计了航向自抗扰控制器,并解决了舵机模型中舵角的限幅和限速问题,基于滑模控制理论提出了反馈控制带宽的计算方法.采用频域分析的方法,系统地分析了自抗扰控制器对外部波浪扰动的抑制能力、模型参数不确定时的鲁棒性;结合作者实船工作经验以及系统动态特性与控制参数的关系,提出了船舶航向控制器参数的配置规律;最后以一艘57000吨级散货船为控制对象,验证了航向控制器的鲁棒性和本文所述参数配置规律的有效性.为将自抗扰控制算法应用于船舶自动舵设计提供理论依据和实践参考.

Active disturbance rejection control design and parameters configuration for ship steering with wave disturbance

A novel active disturbance rejection controller (ADRC) of ship steering control is designed under the internal parameter uncertainties and external disturbances. Based on the sliding mode theory, a method to calculate the feedback control bandwidth is proposed and the limitation of rudder amplitude and rate is also resolved. The performance of the wave-rejection of the proposed controller is analyzed systematically in frequency domain, as well as the robustness to the model uncertainties. Taking the personal experience as a caption into consideration, the parameters configuration strategy of the ship steering controller is proposed, based on relationship between the system dynamic characteristics and controller parameters. Extensive simulation experiments are conducted on a 57,000 t bulk carrier to validate the efficiency of the proposed controller and the parameter configuration. So as to provide the theoretical basis and the practical reference for the ship autopilot control design.