基于FAL函数滤波的动力定位自抗扰控制器设计
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引用本文:郭亮琨,杨宣访,王家林.基于FAL函数滤波的动力定位自抗扰控制器设计[J].计算技术与自动化,2021,(4):8-13
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郭亮琨,杨宣访,王家林 (海军工程大学 电气工程学院湖北 武汉 430033) 
中文摘要:针对动力定位系统数学模型不够精确,而且具有很强的非线性特性问题,采用自抗扰控制算法设计其控制器。该控制算法无需精确的数学模型,主要利用扩张状态观测器估计船舶运动位置、速度和总扰动,最后通过反馈控制对其进行补偿,从而实现船舶动力定位的精确控制。但实际工程中,船舶的测量系统的测量噪声是难以避免的,为了避免测量噪声的影响,针对所设计的扩张状态观测器采用FAL函数滤波器,在测量信号进入扩张状态观测器之前进行滤波,以减小测量噪声的影响。从而使得其反馈控制更加精确。最后以一艘供给船为例进行仿真分析,验证了所设计非线性控制器的有效性和鲁棒性。
中文关键词:船舶动力定位  自抗扰控制器  FAL函数滤波
 
Design of Active Disturbance Rejection Controller for Dynamic Positioning Based on FAL Function Filter
Abstract:Aiming at the problem that the mathematical model of dynamic positioning system is not accurate enough and has strong nonlinear characteristics, the active disturbance rejection control algorithm is used to design its controller. The control algorithm does not need accurate mathematical model. It mainly uses the extended state observer to estimate the position, speed and total disturbance of the ship, and finally compensates it by feedback control, so as to realize the accurate control of ship dynamic positioning. In order to avoid the influence of measurement noise, the fal function filter is adopted for the designed extended state observer. Before the measurement signal enters the extended state observer, the influence of measurement noise is reduced. So the feedback control is more accurate. Finally, a supply ship is taken as an example to verify the effectiveness and robustness of the proposed nonlinear controller.
keywords:ship dynamic positioning  ADRC  FAL filter function
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