| 基于反馈线性化的船舶自动舵动态滑模控制 |
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| 引用本文： | 石为人,邹剑,宗志亚.基于反馈线性化的船舶自动舵动态滑模控制[J].船舶工程,2011,33(5):40-45. |
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| 作者姓名： | 石为人 邹剑 宗志亚 |
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| 作者单位： | 重庆大学自动化学院,重庆,400030;重庆大学自动化学院,重庆,400030;重庆大学自动化学院,重庆,400030 |
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| 基金项目： | 国家科技部国际科技合作项目(2007DFR10420);重庆市科技攻关项目(CSTC2007AB3035,CSTC2008AB3049) |
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| 摘 要： | 针对船舶自动舵的航向控制问题,结合高阶滑模和动态滑模控制的设计思想设计了一种船舶自动舵动态滑模控制器.首先设计出包含舵机特性的船舶航向控制仿射非线性系统模型,其次通过状态反馈的方法将原模型变为等价的完全可控型线性化系统,然后设计出动态滑模控制器.仿真结果表明,所设计的动态滑模控制器不仅能很好的自动跟踪设定的航向,而且能有效的抑制系统的抖振现象,达到设计目的,为研究船舶自动舵控制提供一种参考.
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| 关 键 词： | 船舶自动舵 反馈线性化 滑模控制 动态滑模控制 |
| 收稿时间： | 3/7/2011 12:51:03 PM |
| 修稿时间： | 3/7/2011 12:51:03 PM |
Dynamical Sliding Mode Control of Ship Autopilot Based on Feedback Linearization |
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| SHI Wei-ren,and ZONG Zhi-ya.Dynamical Sliding Mode Control of Ship Autopilot Based on Feedback Linearization[J].Ship Engineering,2011,33(5):40-45. |
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| Authors: | SHI Wei-ren and ZONG Zhi-ya |
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| Institution: | (College of Automation,Chongqing University,Chongqing 400030,China) |
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| Abstract: | according to the control of ship autopilot and combining high-order sliding mode control with dynamical sliding mode control, designs a dynamic sliding mode control. Firstly, sets out the nonlinear of ship control system with autopilot steering characteristics, and using the feedback linearization procedure of differential geometry, an equivalent, fully controllable and linear model was derived via a homomorphism transformation. And then design a dynamic sliding mode controller. The results of simulation show that the dynamic sliding mode controller can not only excellent tracking the goals but also can effectively reduce the system chattering problem. |
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| Keywords: | ship autopilot feedback linearization dynamical sling control |
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