动力定位船舶全速度路径跟踪CB导引自适应闭环控制

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。

The CB Guided Adaptive Path Tracking Control of Dynamic Positioning Vessels under the Whole Speed Range

the path tracking control problem for dynamic positioning vessels using tunnel thrusters under the whole speed range is researched by considering the influence of the slowly varying environmental interference in this paper, and the adaptive control algorithm which is not restricted by vessel actuated characteristics is proposed by using the adaptive term to compensate the slowly varying environment interference. Then, the expected velocity vector in earth-fixed coordinate frame is generates through the Constant Bearing (CB) Guidance algorithm, which makes the tracking process performance can be adjusted. By combining guidance algorithm and the control algorithm, the CB guided adaptive trajectory tracking controller is put forward, and stability of the large guidance-control closed-loop is proved by using Lyapunov theory. Simulation results show the good tracking performance of the proposed controller.