欠驱动水面船舶航向、航迹非线性鲁棒控制研究
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摘要
随着世界航运业的发展和繁荣,海上交通越来越密集,为了保证航行安全,人们对船舶的运动控制提出了更高的要求。在远洋航行时,为了减轻舵手的劳动强度、缩短航行距离以及减少燃料的消耗,必须准确地控制船舶的航向或航迹；此外,一些特殊作业情况,如海底电缆敷设与维修等,更需要精确的船舶航迹控制。因此,对船舶航向、航迹控制进行研究在理论上和实践上都具有极其重要的意义。
由于船舶运动具有非线性、大时滞、大惯性等特点,又易受风、浪、流等干扰的影响,航行条件(如航速、装载情况和水深等)的变化和测量的不精确性等因素都使船舶动态产生明显的不确定性。因此,船舶航向、航迹等运动控制是一个复杂的非线性、不确定性控制问题。此外,大多数水面船舶仅装备螺旋桨主推进器和舵装置,当进行航迹控制时,需要控制船舶在航向ψ和船舶位置(x,y)上进行3个自由度的运动,此时的船舶控制系统属于欠驱动系统。欠驱动水面船舶系统是一种典型的二阶非完整约束动力学系统,针对非完整系统发展起来的一些非线性控制方法,如精确线性化、部分反馈线性化、级联系统稳定性分析理论、滑模控制方法等,难以直接应用于船舶的欠驱动控制问题。因此,针对带有不确定性和外界干扰的欠驱动船舶的控制问题已不能只用单纯的一种控制方法解决,寻求新的控制方案以适应实际航行需要已成为近几年船舶运动控制中的研究热点。
为了解决含有模型不确定性和外界干扰条件下的欠驱动水面船舶运动控制问题,本文主要完成了以下研究工作：
1、首先介绍了在本论文中涉及到的基本知识,包括稳定性理论、滑模控制理论和自抗扰控制技术等,为后续章节的研究打下基础。其次建立了水面船舶运动数学模型,包括船舶水平面三自由度运动模型、响应型数学模型和海况干扰模型等。建模的目的主要是为研究闭环系统特性提供一个基本的仿真平台,通过仿真研究、评估控制系统的控制系能。
2、针对船舶航向控制中的不确定性和恶劣的海况干扰,应用三种控制策略设计船舶航向控制器：
1)采用算法简单、抗干扰能力强的自抗扰控制技术设计了船舶航向控制器。针对外界的强干扰以及系统的实际情况,对传统的扩张状态观测器(ESO)进行了改造,使之能够真实地估计出未知扰动并消除测量噪声的影响。针对自抗扰参数难以整定的问题,采取遗传算法进行整定,克服了凑试法的不足。仿真结果证明自抗扰控制技术能够很好地解决不确定性和海况干扰问题。
2)综合自适应控制、模糊逼近和滑模控制技术应用到船舶航向控制。通过模糊逻辑系统逼近不确定性函数,解决了模型不确定性问题；通过自适应滑模控制解决系统鲁棒性问题；针对滑模控制切换项引起的抖振问题,通过内嵌PI控制律代替滑模控制中的切换项,将切换项连续化,解决了滑模抖振。此外,为保证控制输入有界,对自适应算法进行了改进。仿真结果证明,自适应模糊滑模控制(AFSMC)具有很强的鲁棒性。
3)综合非线性观测器(NDO)、滑模Backstepping控制技术应用到船舶航向控制。利用非线性干扰观测器观测系统的不确定性和随机海浪干扰,在控制中引入等量的补偿,实现对干扰完全抑制。应用滑模反演法设计航向控制器,不仅保证了闭环系统的稳定性,同时很好地克服了系统不确定性问题和外界干扰。
3、针对船舶航迹控制中的欠驱动性和恶劣的海况干扰,应用三种控制策略设计船舶航迹控制器：
1)采用自抗扰控制技术设计了船舶直线航迹控制器。针对直线航迹控制中的欠驱动特性,采用两个TD安排过渡过程,控制律采用两个被控量的误差组合方式,突破了原有自抗扰算法只适用SISO系统的限制,解决了欠驱动控制问题。为验证其鲁棒性,在同一条件下和相关文献介绍的算法做了对比仿真,证实了自抗扰控制的强鲁棒性特点。
2)基于二自由度船舶模型,采用微分同坯变换和Backstepping技术,选择系统输出变量为船舶航向和横向位移组合的方式,采用状态反馈设计了舵控制律,解决了系统的欠驱动性和非线性问题。仿真实验验证了该算法的有效性。
3) Line-of-sight (LOS)导航系统能够把把欠驱动系统转变为全驱动系统,从而不受Brocketts条件的限制。本文研究了LOS导航系统在船舶直线航迹和曲线航迹中的应用,结合滑模控制技术设计了直线航迹控制器；结合Backstepping技术,设计了曲线航迹控制器。仿真实验证明了该方法的有效性。
4、简要介绍了船舶航向、航迹自动舵控制系统的实现,介绍了系统的软硬件结构以及系统联调试验的情况和试验结果。
本文成果也可以推广应用于水下潜器、非完整移动机器人等其它具有欠驱动特性的系统中,具有较好的普适性。
With the development and prosperity of the world's shipping industry, themaritime transportation is more and more dense. In order to ensure the safety of navigation, people have put forward higher requirements for the ship motion control. Sailing in the ocean, in order to reduce the labor intensity of the helmsman, to shorten the sail away, and reduce fuel consumption, it is necessary to implement effective automatic control of the ship's heading or track; In addition, some ships for special operations, such as submarine cable laying and maintenance, etc. need more accurate ship track control especially. Therefore, the ship heading and track control study in both the theory and practice are extremely important.
Due to the ship motion's characteristics such as nonlinear, large time delay and inertia, and the ship motion is also susceptible to disturbances of wind, waves and currents, the changes and measurement accuracy of the navigation conditions (such as speed, load and water depth, etc.), make the ship navigation state significant uncertainty. Therefore, the control of the ship heading, track, and other motion is a complex non-linear uncertainty control problem. In addition, most above-water ships are only equipped with the propeller, main propulsion and rudder, when controlling the track, it is necessary to control the ship heading and position (x,y) of ship,3degrees of freedom movement At this time, the ship control system belong to the underactuated system. Underactuated surface ship system is a typical example of second-order nonholonomic constraint dynamic systems. Nonlinear control methods developing with nonholonomic systems, such as linearization, part of the feedback linearization method, cascade system stability analysis theory, sliding mode control theory, is difficult to be directly used in solving underactuated ship's control problem. Therefore, for the control problems of underactuated ships with uncertainties and external disturbances it has not been solved by only a simple control method, but to seek a new control scheme to be adapted to the actual navigation has become a research focus on ship motion control in recent years.
In order to solve the containing model uncertainty and disturbance conditions less drive surface ship motion control, this paper completed the following work:
1. It introduced the basic knowledge related to this paper, including stability theory, the theory of sliding mode control and active disturbance rejection control theory which are the foundation for following chapters. Second, the surface ship motion mathematical model is established; including the ship horizontal degree of freedom motion model, respond to the mathematical model of ship motion and sea state interference model. The main purpose of modeling is to provide a basic simulation platform to study the characteristics of closed-loop system simulation studies to evaluate the performance of the control system.
2. For uncertainties in the ship heading control and poor sea conditions interference, the three kinds of control strategies are applied to design the ship course controller:
1) Using strong anti-interference ability ADRC controls technology with the simple algorithm to design the ship course controller. Against outside interference and the actual situation of the system, the traditional ESO has been transformed, so that it can truly estimate the unknown disturbance and eliminate the influence of measurement noise. To solve the problem that ADRC parameters is difficult to be decided, the genetic algorithm is applied to overcome the deficiencies of the hash method. The simulation results show that the ADRC control technology can solve the uncertainty and sea state interference problem very well.
2) Adaptive control, fuzzy approximation and sliding mode control technology are applied to the ship course control. The model uncertainty can be solved by applying the fuzzy logic system for uncertainty function approximation and robustnee can be solved by using adaptive sliding mode control. Using the embedded PI control law instead of sliding mode control switch will make the switch continuous which solves the problem of sliding mode chattering. In addition, in order to ensure the control input is bounded, the adaptive algorithm has been improved. The simulation results show that the adaptive fuzzy sliding mode control (AFSMC) has a strong robustness.
3) The nonlinear observer (NDO) and Sliding Mode Backstepping Control technology are applied to the ship Course control. Observing the uncertainty and random waves interfere of the system with use of the nonlinear disturbance observer, then, an equal amounts of compensation is introduced in control input, thereby the disturbance completely is fully inhibited. The heading controller is designed with the sliding mode inversion method, not only to ensure the stability of the closed-loop system but also to overcome the system uncertainty and external interference at the same time.
3. For the ship track in the control of underactuated and poor sea conditions interfere with, the three kinds of control strategies are applied to design the ship track controller:
1) Design the ship linear track controller ADRC control technology. For the underactuated features in the straight track control two TD arrangements are applied for the transition process, and the control law using the error combination with two controlled variables to break through the restrictions of the original ADRC algorithm which is only applicable to SISO systems and solves the underactuated control problem. To verify the robustness, the algorithm has been made a comparative simulation with the other algorithms in the relevant literature under the same conditions which has confirmed the strong robustness characteristics of the control of ADRC.
2) Based on two degrees of freedom in the ship model, using the Diffeomorphism transformation and Backstepping, selecting the system output variables as the combinations of the ship course and sway displacement, and applying the state feedback for the design of a rudder control law, it solves underactuated and nonlinear problems of the system. Simulation results demonstrate the effectiveness of the algorithm.
3) The Line-of-sight (LOS) navigation systems can transformed the underactuated system into the full-actuated system, so no Brockeets condition limits. Sliding mode control and Backstepping technology are applied to the ship straight line trajectory and curve control, which solved underactuated and nonlinear problems of the system. Simulation results demonstrate the effectiveness of the two algorithm.
4. Ship heading(course) and track autopilot control system implementation are introduced briefly. The system hardware, software structure and the system of joint test and test results are also introduced in this paper.
In this paper the results can also be applied to underwater vehicle, nonholonomic mobile robots and other systems with underactuated characteristics, which has a good universal.
由于船舶运动具有非线性、大时滞、大惯性等特点,又易受风、浪、流等干扰的影响,航行条件(如航速、装载情况和水深等)的变化和测量的不精确性等因素都使船舶动态产生明显的不确定性。因此,船舶航向、航迹等运动控制是一个复杂的非线性、不确定性控制问题。此外,大多数水面船舶仅装备螺旋桨主推进器和舵装置,当进行航迹控制时,需要控制船舶在航向ψ和船舶位置(x,y)上进行3个自由度的运动,此时的船舶控制系统属于欠驱动系统。欠驱动水面船舶系统是一种典型的二阶非完整约束动力学系统,针对非完整系统发展起来的一些非线性控制方法,如精确线性化、部分反馈线性化、级联系统稳定性分析理论、滑模控制方法等,难以直接应用于船舶的欠驱动控制问题。因此,针对带有不确定性和外界干扰的欠驱动船舶的控制问题已不能只用单纯的一种控制方法解决,寻求新的控制方案以适应实际航行需要已成为近几年船舶运动控制中的研究热点。
为了解决含有模型不确定性和外界干扰条件下的欠驱动水面船舶运动控制问题,本文主要完成了以下研究工作：
1、首先介绍了在本论文中涉及到的基本知识,包括稳定性理论、滑模控制理论和自抗扰控制技术等,为后续章节的研究打下基础。其次建立了水面船舶运动数学模型,包括船舶水平面三自由度运动模型、响应型数学模型和海况干扰模型等。建模的目的主要是为研究闭环系统特性提供一个基本的仿真平台,通过仿真研究、评估控制系统的控制系能。
2、针对船舶航向控制中的不确定性和恶劣的海况干扰,应用三种控制策略设计船舶航向控制器：
1)采用算法简单、抗干扰能力强的自抗扰控制技术设计了船舶航向控制器。针对外界的强干扰以及系统的实际情况,对传统的扩张状态观测器(ESO)进行了改造,使之能够真实地估计出未知扰动并消除测量噪声的影响。针对自抗扰参数难以整定的问题,采取遗传算法进行整定,克服了凑试法的不足。仿真结果证明自抗扰控制技术能够很好地解决不确定性和海况干扰问题。
2)综合自适应控制、模糊逼近和滑模控制技术应用到船舶航向控制。通过模糊逻辑系统逼近不确定性函数,解决了模型不确定性问题；通过自适应滑模控制解决系统鲁棒性问题；针对滑模控制切换项引起的抖振问题,通过内嵌PI控制律代替滑模控制中的切换项,将切换项连续化,解决了滑模抖振。此外,为保证控制输入有界,对自适应算法进行了改进。仿真结果证明,自适应模糊滑模控制(AFSMC)具有很强的鲁棒性。
3)综合非线性观测器(NDO)、滑模Backstepping控制技术应用到船舶航向控制。利用非线性干扰观测器观测系统的不确定性和随机海浪干扰,在控制中引入等量的补偿,实现对干扰完全抑制。应用滑模反演法设计航向控制器,不仅保证了闭环系统的稳定性,同时很好地克服了系统不确定性问题和外界干扰。
3、针对船舶航迹控制中的欠驱动性和恶劣的海况干扰,应用三种控制策略设计船舶航迹控制器：
1)采用自抗扰控制技术设计了船舶直线航迹控制器。针对直线航迹控制中的欠驱动特性,采用两个TD安排过渡过程,控制律采用两个被控量的误差组合方式,突破了原有自抗扰算法只适用SISO系统的限制,解决了欠驱动控制问题。为验证其鲁棒性,在同一条件下和相关文献介绍的算法做了对比仿真,证实了自抗扰控制的强鲁棒性特点。
2)基于二自由度船舶模型,采用微分同坯变换和Backstepping技术,选择系统输出变量为船舶航向和横向位移组合的方式,采用状态反馈设计了舵控制律,解决了系统的欠驱动性和非线性问题。仿真实验验证了该算法的有效性。
3) Line-of-sight (LOS)导航系统能够把把欠驱动系统转变为全驱动系统,从而不受Brocketts条件的限制。本文研究了LOS导航系统在船舶直线航迹和曲线航迹中的应用,结合滑模控制技术设计了直线航迹控制器；结合Backstepping技术,设计了曲线航迹控制器。仿真实验证明了该方法的有效性。
4、简要介绍了船舶航向、航迹自动舵控制系统的实现,介绍了系统的软硬件结构以及系统联调试验的情况和试验结果。
本文成果也可以推广应用于水下潜器、非完整移动机器人等其它具有欠驱动特性的系统中,具有较好的普适性。
With the development and prosperity of the world's shipping industry, themaritime transportation is more and more dense. In order to ensure the safety of navigation, people have put forward higher requirements for the ship motion control. Sailing in the ocean, in order to reduce the labor intensity of the helmsman, to shorten the sail away, and reduce fuel consumption, it is necessary to implement effective automatic control of the ship's heading or track; In addition, some ships for special operations, such as submarine cable laying and maintenance, etc. need more accurate ship track control especially. Therefore, the ship heading and track control study in both the theory and practice are extremely important.
Due to the ship motion's characteristics such as nonlinear, large time delay and inertia, and the ship motion is also susceptible to disturbances of wind, waves and currents, the changes and measurement accuracy of the navigation conditions (such as speed, load and water depth, etc.), make the ship navigation state significant uncertainty. Therefore, the control of the ship heading, track, and other motion is a complex non-linear uncertainty control problem. In addition, most above-water ships are only equipped with the propeller, main propulsion and rudder, when controlling the track, it is necessary to control the ship heading and position (x,y) of ship,3degrees of freedom movement At this time, the ship control system belong to the underactuated system. Underactuated surface ship system is a typical example of second-order nonholonomic constraint dynamic systems. Nonlinear control methods developing with nonholonomic systems, such as linearization, part of the feedback linearization method, cascade system stability analysis theory, sliding mode control theory, is difficult to be directly used in solving underactuated ship's control problem. Therefore, for the control problems of underactuated ships with uncertainties and external disturbances it has not been solved by only a simple control method, but to seek a new control scheme to be adapted to the actual navigation has become a research focus on ship motion control in recent years.
In order to solve the containing model uncertainty and disturbance conditions less drive surface ship motion control, this paper completed the following work:
1. It introduced the basic knowledge related to this paper, including stability theory, the theory of sliding mode control and active disturbance rejection control theory which are the foundation for following chapters. Second, the surface ship motion mathematical model is established; including the ship horizontal degree of freedom motion model, respond to the mathematical model of ship motion and sea state interference model. The main purpose of modeling is to provide a basic simulation platform to study the characteristics of closed-loop system simulation studies to evaluate the performance of the control system.
2. For uncertainties in the ship heading control and poor sea conditions interference, the three kinds of control strategies are applied to design the ship course controller:
1) Using strong anti-interference ability ADRC controls technology with the simple algorithm to design the ship course controller. Against outside interference and the actual situation of the system, the traditional ESO has been transformed, so that it can truly estimate the unknown disturbance and eliminate the influence of measurement noise. To solve the problem that ADRC parameters is difficult to be decided, the genetic algorithm is applied to overcome the deficiencies of the hash method. The simulation results show that the ADRC control technology can solve the uncertainty and sea state interference problem very well.
2) Adaptive control, fuzzy approximation and sliding mode control technology are applied to the ship course control. The model uncertainty can be solved by applying the fuzzy logic system for uncertainty function approximation and robustnee can be solved by using adaptive sliding mode control. Using the embedded PI control law instead of sliding mode control switch will make the switch continuous which solves the problem of sliding mode chattering. In addition, in order to ensure the control input is bounded, the adaptive algorithm has been improved. The simulation results show that the adaptive fuzzy sliding mode control (AFSMC) has a strong robustness.
3) The nonlinear observer (NDO) and Sliding Mode Backstepping Control technology are applied to the ship Course control. Observing the uncertainty and random waves interfere of the system with use of the nonlinear disturbance observer, then, an equal amounts of compensation is introduced in control input, thereby the disturbance completely is fully inhibited. The heading controller is designed with the sliding mode inversion method, not only to ensure the stability of the closed-loop system but also to overcome the system uncertainty and external interference at the same time.
3. For the ship track in the control of underactuated and poor sea conditions interfere with, the three kinds of control strategies are applied to design the ship track controller:
1) Design the ship linear track controller ADRC control technology. For the underactuated features in the straight track control two TD arrangements are applied for the transition process, and the control law using the error combination with two controlled variables to break through the restrictions of the original ADRC algorithm which is only applicable to SISO systems and solves the underactuated control problem. To verify the robustness, the algorithm has been made a comparative simulation with the other algorithms in the relevant literature under the same conditions which has confirmed the strong robustness characteristics of the control of ADRC.
2) Based on two degrees of freedom in the ship model, using the Diffeomorphism transformation and Backstepping, selecting the system output variables as the combinations of the ship course and sway displacement, and applying the state feedback for the design of a rudder control law, it solves underactuated and nonlinear problems of the system. Simulation results demonstrate the effectiveness of the algorithm.
3) The Line-of-sight (LOS) navigation systems can transformed the underactuated system into the full-actuated system, so no Brockeets condition limits. Sliding mode control and Backstepping technology are applied to the ship straight line trajectory and curve control, which solved underactuated and nonlinear problems of the system. Simulation results demonstrate the effectiveness of the two algorithm.
4. Ship heading(course) and track autopilot control system implementation are introduced briefly. The system hardware, software structure and the system of joint test and test results are also introduced in this paper.
In this paper the results can also be applied to underwater vehicle, nonholonomic mobile robots and other systems with underactuated characteristics, which has a good universal.
引文
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