| 一种鲁棒的动力定位系统状态估计算法 |
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| 引用本文：张相宜，杨宣访，王家林.一种鲁棒的动力定位系统状态估计算法[J].计算技术与自动化,2017,(3):6-11 |
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| 中文摘要:状态估计在船舶动力定位控制系统中占有十分重要的地位，是该领域的研究热点问题之一。该文针对水面三自由度船舶动力定位控制的状态估计问题，利用滑模变结构控制对参数摄动完全自适应的特点，提出了一种滑模观测器的设计方法，基于三自由度船舶的低频和高频数学模型，根据速度观测误差构成滑模面对低频位置和速度进行估计，采用双曲正切函数作为切换函数，运用无源性理论和李雅普诺夫稳定性判据对观测器的稳定性进行了分析证明，基于频域分析方法确定观测器的增益矩阵。以一艘供给船为例对设计的滑模观测器进行了仿真分析，验证了观测器的有效性和鲁棒性。 |
| 中文关键词:动力定位 滑模控制 观测器 |
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| A Robust State Estimation Algorithm for Dynamic Positioning System |
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| Abstract:State estimation occupies an important position in the dynamic positioning systems，it is one of researching hotspots.Referring to the state estimation problems for three-degree-of-freedom ship dynamic positioning system，taking advantage of the characteristic of the sliding mode control theory，a robust nonlinear observer，utilizing the sliding mode concept，is developed for the DP ships.Based on the ship’s low-frequency and high-frequency model of three-degree freedoms，this observer provides the estimation of both the low-frequency position and velocity with a sliding surface ，which composed with error of velocity estimation.The observer takes a hyperbolic tangent function as switching function，and it is proven to be convergent using passivity theory and Lyapunov stability criterion.The gain matrix of the observer is determined based on the frequency domain analysis method.The sliding mode observer has been simulated on a computer model of a supply vessel and verified the effectiveness and robustness of the observer. |
| keywords:dynamic positioning sliding mode control observer |
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