基于FAL函数滤波的动力定位自抗扰控制器设计
投稿时间:2020-09-26  修订日期:2020-10-16  点此下载全文
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作者单位E-mail
郭亮琨 海军工程大学 电气工程学院 961324642@qq.com 
杨宣访 海军工程大学 电气工程学院  
王家林 海军工程大学 电气工程学院 wjl0600519@sina.com 
基金项目:国家自然科学基金项目(面上项目,重点项目,重大项目)
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。但实际中为了避免造成能量浪费和推力器的机械磨损,一般只需要对低频运动分量进行补偿,因此引入Fal函数滤波器预先对高频运动分量进行滤除,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. But in practice, in order to avoid energy waste and mechanical wear of thruster, only low-frequency motion components need to be compensated. Therefore, fal function filter is introduced to filter high-frequency motion components in advance, which makes the feedback control 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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