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| 基于时标分离的喷水推进船舶航向/航速控制 | |
| 引用本文： | 高双,朱齐丹,李磊,吴限.基于时标分离的喷水推进船舶航向/航速控制[J].中国造船,2010,51(1). |
| 作者姓名： | 高双 朱齐丹 李磊 吴限 |
| 作者单位： | 1. 中国船舶重工集团公司,第704研究所,上海,200031 2. 哈尔滨工程大学自动化学院,黑龙江,哈尔滨,150001 3. 中国船舶重工集团公司,第726研究所,上海,200038 |
| 摘 要： | 针对喷水推进船舶机动过程中的航向控制和航速损失的问题,提出一种基于时标分离的航向航速控制系统结构,将航向和航速之间的耦合归结为系统之间的干扰,利用反步法在不匹配不确定系统设计中的优点,以及滑模控制对系统干扰的抑制能力和动态逆对反步设计中逆求解精确性的提高能力,分别设计航向反步滑模控制器和航速反步动态逆控制器,解决船舶机动过程中航向和航速的稳定控制问题. |
| 关 键 词： | 船舶工程 时标分离 航向控制 反步滑模 动态逆 |
Control of Ship Autopilots with Waterjet Propulsion Based on Time-scale Separation |
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| GAO Shuang,ZHU Qi-dan,LI Lei,WU Xian.Control of Ship Autopilots with Waterjet Propulsion Based on Time-scale Separation[J].Shipbuilding of China,2010,51(1). | |
| Authors: | GAO Shuang ZHU Qi-dan LI Lei WU Xian |
| Institution: | GAO Shuang,ZHU Qi-dan,LI Lei,WU Xian(1.No.704 Research Institute,CSIC,Shanghai 200031,China,2.College of Automation,Harbin Engineering University,Harbin 150001,3.No.726 Research Institute,Shanghai 200038,China) |
| Abstract: | Considering the course control and the loss of speed during ship maneuver with the waterjet propulsion,this paper gives a control system of the course and speed,which is based on time-scale separation.It considers the coupling as the interference between separated systems.It shows the adrantage of the backstepping in design of the unmatched and uncertainty systems,the capability of interference rejection in the sliding-mode control systems and the accuracy enhancement of inversion solving due to dynamic inv... |
| Keywords: | ship engineering time-scale separation course control backstepping sliding-mode dynamic inversion |
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