基于滑模自抗扰的半潜式海洋平台动力定位控制方法研究

针对海洋平台动力定位系统,通过构造连续光滑函数并将其用于扩张状态观测器以及引入非奇异终端滑模控制来代替非线性状态误差反馈控制律,设计了一种滑模自抗扰动力定位控制器。连续光滑函数的设计可避免控制器应用过程中的高频颤振现象,非奇异终端滑模控制的引入是为了提高系统的快速响应性与稳定性。通过仿真实验,改进后的滑模自抗扰动力定位控制系统具有较好的控制品质和响应特性,系统的抗扰能力与鲁棒性得到提升,同时其对扰动的估计能力明显增强,实现了海洋平台定位精度的提高。

Sliding Mode Active-Disturbance Rejection-Based Dynamic Positioning Control Method of Semi-submersible Offshore Platforms

By using a continuous and smooth function for designing the extended state observer and introducing non-singular terminal sliding mode control to substitute the non-linear state error feedback control law, a sliding mode active-disturbance rejection dynamic positioning controller is designed. A continuous and smooth function is constructed to prevent the high frequency chatter of the controller, while the non-singular terminal sliding mode control is introduced to improve the response time and stability of the systems. The simulation results illustrate that the improved sliding mode active-disturbance rejection-based dynamic positioning control systems can provide better control quality and faster response. The robustness of the systems is improved greatly, and their estimation ability to the disturbance is also strengthened significantly to achieve the enhancement of positioning accuracy of offshore platforms.