基于Backstepping的船舶运动非线性自适应鲁棒控制
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摘要
H∞鲁棒控制作为一种能够处理系统结构或系统参数存在不确定性问题的有效方法,其非常适于在船舶运动控制领域中加以应用和推广。特别是闭环增益成形算法作为一种H∞鲁棒控制在实际工程中的应用简化,是一种简捷、有效地处理带有不确定性的船舶运动控制问题的鲁棒控制算法。但因其不能独立地针对非线性系统进行控制器设计,所以本文分别将SISO系统和MIMO系统闭环增益成形算法与Backstepping方法相融合,并通过Lyapunov稳定性理论和线性稳定性理论首次论证了两种算法相融合的合理性和实用性,进一步夯实了这两种算法融合使用的理论基础。同时将该研究成果分别应用于船舶航向保持系统、船舶减摇鳍控制系统和船舶舵鳍联合控制系统的设计中,取得了一些理论成果,研究结果具有一定的实际应用价值。主要研究工作简述如下：
针对船舶航向保持系统中,传统Backstepping方法因不确定恒值干扰易产生静差及控制器参数整定过于复杂等问题,首先将SISO系统闭环增益成形算法与带积分项的Backstepping方法相融合,提出了一种带有积分功能的船舶航向保持非线性鲁棒控制器设计方案,并通过严格的理论推导和仿真结果论证了该方案的合理性。然后,考虑到船舶航向控制系统中的不确定性参数变化、外界干扰、各种非线性因素的影响以及传统鲁棒设计方法存在保守性的问题,本文提出将自适应Backstepping算法与闭环增益成形算法相融合,在此基础上提出一种全新的非线性自适应鲁棒算法,最后将该算法应用于船舶航向保持控制器设计中,并在考虑了风、浪干扰的情况下进行相应的仿真实验,验证了该算法的有效性。
由于船舶的横摇阻尼通常较小,为了防止船舶发生倾覆的危险,增加人员的舒适程度,减摇鳍作为目前减摇效果最好,使用最为广泛的船舶减摇设备,开发适合船舶非线性动态特性、鲁棒性强的减摇鳍控制器具有十分重要的意义。特别是大连海事大学的科研实习船“育鲲”轮,为了能够让先进的船载科研仪器以较高的效率运行,采用传统的线性减摇鳍控制器很难满足其要求,因此需要设计出一种减摇效果更好、鲁棒性更强的非线性控制器。本文首先对“育鲲”轮的非线性横摇数学模型进行了深入研究,并同样将SISO系统闭环增益成形算法和Backstepping相融合,分别提出了非线性减摇鳍控制器和非线性自适应减摇鳍控制器设计方案,并通过对科研实习船“育鲲”轮的仿真实验来验证所提出的控制器的有效性,最后得出一些相关的重要结论。
舵鳍联合控制是在减摇鳍减摇和舵减摇基础上发展起来的一种新型减摇装置,它能在保证航向保持控制精度的同时提高船舶的减摇效果。本文首先针对某轮的舵鳍联合系统线性数学模型,建立了一种仅航向保持具有非线性的舵鳍联合系统非线性数学模型,并通过Backstepping方法与MIMO闭环增益成形算法相融合,提出了一种针对舵鳍联合系统的非线性鲁棒控制器,并通过理论推导与仿真实验论证了该控制器的有效性。然后在对现有通用的舵鳍联合系统模型进行深入研究的基础上,针对Backstepping算法在使用方面的一些限制,在进行控制器设计时对通用模型进行了简化,使之符合Backstepping算法设计的需要,并尝试将自适应Backstepping方法与MIMO系统闭环增益成形算法相融合,实现算法的程序化和设计参数的自整定；最后将算法应用于“育鲲”轮的舵鳍联合系统控制器设计中,并通过加入风、浪干扰和舵机、鳍机特性,进一步论证了该算法的可行性。
H∞robust control, as an effective method to solve the control problem of model perturbation and parameter uncertainties, has been generally used in the research of ship motion control system.As a simplified H∞, robust control theory, the closed-loop gain shaping algorithm (CGSA) is a simple and direct control algorithm for practical ship motion control engineering. The CGSA can not design the controller for nonlinear system directly; therefore an algorithm combined the CGSA with the Backstepping method is proposed in this paper. For the further research, the stability of the proposed algorithm is proved by the Lyapunov stability theory and linear stability theory, which has provided a solid foundation for the further studies. Furthermore, the above theoretical control strategies have been applied to the ship steering course-keeping system, fin roll control system and rudder/fin joint control system. At last some important conclusions and practical achievements are obtained. The main contributions are as follow:
To overcome the disadvantage of the static error of constant disturbance and complexity of the parameters tuning in the ship course-keeping with the traditional Backstepping method, a control scheme combined integral Backstepping algorithm with SISO CGSA is proposed. Furthermore, an integral nonlinear robust controller for ship course-keeping system is designed.The theoretical analysis and simulation results show that the controller designed by the above scheme has nice robustness to the model perturbation and environmental disturbances. Then, in order to overcome the high conservative of the traditional robust control strategy and the hydrodynamic uncertainties of the ship steering system, a new nonlinear adaptive robust control scheme derived from the combination of Backstepping method and the CGSA is proposed in this paper. Finally, a nonlinear adaptive robust controller for ship steering system is designed, and the simulation results show that the adaptive controller has a good performance, strong robustness to the external disturbance.
With the consideration of the insufficiencies of the ship roll damping, to improve the security and comfort of the vessel and prevent the capsize of the ship, the active fin roll damping as the most effective roll damping equipment has been found to be very attractive.In the case of training vessel "YUKUN",effective working of advanced scientific research equipments with high-precision is one of the most important requirements. Hence it is important to develop a nonlinear controller for ship fin roll stabilisation system to offer a better performance and stronger robustness.For the further study about the nonlinear fin roll control system of the vessel "YUKUN", the control strategy combined the Backstepping method with SISO CGSA is used to design the two fin roll stabilisation controller:nonlinear robust controller and nonlinear adaptive robust controller. Finally, the numerical simulations to the vessel "YUKUN" clearly show that the two proposed controllers have good control performance and strong robustness to the external disturbance and the model perturbation.At the same time, some important conclusions are obtained.
The ship rudder/fin joint control system is a new roll stabilisation equipment derived from the fin roll stabilisation and rudder roll damping, which could improve the effect of the roll stabilization while guaranteeing the course-keeping precision of the ship steering system.Firstly, a nonlinear mathematical model for the rudder/fin joint system, which could describe the nonlinear characteristics of the ship steering system, has been built. Through the further theoretical analysis, a concise nonlinear rudder/fin joint robust control scheme derived from the Backstepping method combined with MIMO CGSA is proposed. Secondly, due to the utility restriction of Backstepping method, a simplified rudder/fin joint nonlinear mathematical model derived from the original model has been built. Then a nonlinear adaptive robust rudder/fin joint controller is proposed with the combination of the adaptive Backstepping method and MIMO CGSA, which could make the design procedure automated and realize the control parameter self-tuning. Finally, with the consideration of the external disturbance and the rudder/fin servo systems, the simulation results show that the nonlinear adaptive robust controller has nice performance and strong robustness.
针对船舶航向保持系统中,传统Backstepping方法因不确定恒值干扰易产生静差及控制器参数整定过于复杂等问题,首先将SISO系统闭环增益成形算法与带积分项的Backstepping方法相融合,提出了一种带有积分功能的船舶航向保持非线性鲁棒控制器设计方案,并通过严格的理论推导和仿真结果论证了该方案的合理性。然后,考虑到船舶航向控制系统中的不确定性参数变化、外界干扰、各种非线性因素的影响以及传统鲁棒设计方法存在保守性的问题,本文提出将自适应Backstepping算法与闭环增益成形算法相融合,在此基础上提出一种全新的非线性自适应鲁棒算法,最后将该算法应用于船舶航向保持控制器设计中,并在考虑了风、浪干扰的情况下进行相应的仿真实验,验证了该算法的有效性。
由于船舶的横摇阻尼通常较小,为了防止船舶发生倾覆的危险,增加人员的舒适程度,减摇鳍作为目前减摇效果最好,使用最为广泛的船舶减摇设备,开发适合船舶非线性动态特性、鲁棒性强的减摇鳍控制器具有十分重要的意义。特别是大连海事大学的科研实习船“育鲲”轮,为了能够让先进的船载科研仪器以较高的效率运行,采用传统的线性减摇鳍控制器很难满足其要求,因此需要设计出一种减摇效果更好、鲁棒性更强的非线性控制器。本文首先对“育鲲”轮的非线性横摇数学模型进行了深入研究,并同样将SISO系统闭环增益成形算法和Backstepping相融合,分别提出了非线性减摇鳍控制器和非线性自适应减摇鳍控制器设计方案,并通过对科研实习船“育鲲”轮的仿真实验来验证所提出的控制器的有效性,最后得出一些相关的重要结论。
舵鳍联合控制是在减摇鳍减摇和舵减摇基础上发展起来的一种新型减摇装置,它能在保证航向保持控制精度的同时提高船舶的减摇效果。本文首先针对某轮的舵鳍联合系统线性数学模型,建立了一种仅航向保持具有非线性的舵鳍联合系统非线性数学模型,并通过Backstepping方法与MIMO闭环增益成形算法相融合,提出了一种针对舵鳍联合系统的非线性鲁棒控制器,并通过理论推导与仿真实验论证了该控制器的有效性。然后在对现有通用的舵鳍联合系统模型进行深入研究的基础上,针对Backstepping算法在使用方面的一些限制,在进行控制器设计时对通用模型进行了简化,使之符合Backstepping算法设计的需要,并尝试将自适应Backstepping方法与MIMO系统闭环增益成形算法相融合,实现算法的程序化和设计参数的自整定；最后将算法应用于“育鲲”轮的舵鳍联合系统控制器设计中,并通过加入风、浪干扰和舵机、鳍机特性,进一步论证了该算法的可行性。
H∞robust control, as an effective method to solve the control problem of model perturbation and parameter uncertainties, has been generally used in the research of ship motion control system.As a simplified H∞, robust control theory, the closed-loop gain shaping algorithm (CGSA) is a simple and direct control algorithm for practical ship motion control engineering. The CGSA can not design the controller for nonlinear system directly; therefore an algorithm combined the CGSA with the Backstepping method is proposed in this paper. For the further research, the stability of the proposed algorithm is proved by the Lyapunov stability theory and linear stability theory, which has provided a solid foundation for the further studies. Furthermore, the above theoretical control strategies have been applied to the ship steering course-keeping system, fin roll control system and rudder/fin joint control system. At last some important conclusions and practical achievements are obtained. The main contributions are as follow:
To overcome the disadvantage of the static error of constant disturbance and complexity of the parameters tuning in the ship course-keeping with the traditional Backstepping method, a control scheme combined integral Backstepping algorithm with SISO CGSA is proposed. Furthermore, an integral nonlinear robust controller for ship course-keeping system is designed.The theoretical analysis and simulation results show that the controller designed by the above scheme has nice robustness to the model perturbation and environmental disturbances. Then, in order to overcome the high conservative of the traditional robust control strategy and the hydrodynamic uncertainties of the ship steering system, a new nonlinear adaptive robust control scheme derived from the combination of Backstepping method and the CGSA is proposed in this paper. Finally, a nonlinear adaptive robust controller for ship steering system is designed, and the simulation results show that the adaptive controller has a good performance, strong robustness to the external disturbance.
With the consideration of the insufficiencies of the ship roll damping, to improve the security and comfort of the vessel and prevent the capsize of the ship, the active fin roll damping as the most effective roll damping equipment has been found to be very attractive.In the case of training vessel "YUKUN",effective working of advanced scientific research equipments with high-precision is one of the most important requirements. Hence it is important to develop a nonlinear controller for ship fin roll stabilisation system to offer a better performance and stronger robustness.For the further study about the nonlinear fin roll control system of the vessel "YUKUN", the control strategy combined the Backstepping method with SISO CGSA is used to design the two fin roll stabilisation controller:nonlinear robust controller and nonlinear adaptive robust controller. Finally, the numerical simulations to the vessel "YUKUN" clearly show that the two proposed controllers have good control performance and strong robustness to the external disturbance and the model perturbation.At the same time, some important conclusions are obtained.
The ship rudder/fin joint control system is a new roll stabilisation equipment derived from the fin roll stabilisation and rudder roll damping, which could improve the effect of the roll stabilization while guaranteeing the course-keeping precision of the ship steering system.Firstly, a nonlinear mathematical model for the rudder/fin joint system, which could describe the nonlinear characteristics of the ship steering system, has been built. Through the further theoretical analysis, a concise nonlinear rudder/fin joint robust control scheme derived from the Backstepping method combined with MIMO CGSA is proposed. Secondly, due to the utility restriction of Backstepping method, a simplified rudder/fin joint nonlinear mathematical model derived from the original model has been built. Then a nonlinear adaptive robust rudder/fin joint controller is proposed with the combination of the adaptive Backstepping method and MIMO CGSA, which could make the design procedure automated and realize the control parameter self-tuning. Finally, with the consideration of the external disturbance and the rudder/fin servo systems, the simulation results show that the nonlinear adaptive robust controller has nice performance and strong robustness.
引文
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