基于反步法的欠驱动吊艇架主动式减摆控制

针对欠驱动的三维吊艇架系统,提出了基于反步法的主动式减摆控制方法。建立了三维吊艇架系统的动力学模型,采用反步法设计了吊艇架的减摆控制装置,和其他船用吊艇架的减摆控制相比,采用主动式减摆,结构紧凑,且对负载质量和吊绳长度不确定的情况下,依然可实现对吊艇摆动的有效抑制。仿真结果表明了该减摆控制器有着良好的减摆效果。

Active Pendulation Control of the Underactuateddavit Based on Backstepping

The active pendulation control is proposed based on backstepping for three-dimensional underactuated davit system.The paper establishes a three-dimensional dynamics model of davit and designes the anti-swing control device of davit by backstepping.Comparing with other pendulation controller,it is active and compace as well as still effective,even though the quality of load and the length of cable is uncertain.The simulation results show that the pendulation controller has a good effect on anti-swing.