闭环增益成型算法在运动控制器中的应用
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摘要
我国内河众多,海上疆域广大,蕴含着丰富的石油、天然气、可燃冰、有色金属等资源,因此,对海洋资源的开发以及海上航运业的发展成为国家的战略规划重点。舰船与海上作业平台作为主要的开发工具,其设计与制造质量具有重要意义,尤其对于高速化、大型化船舶的运动控制。船舶在海上受到的干扰力较多,本文针对船舶的运动过程建立模型,并结合闭环增益成型算法设计一种船舶运动控制器,并基于Matlab进行了船舶运动控制器的仿真试验。
With the gradual exhaustion of land resources and the entry of land transportation system into the bottleneck period of development, maritime shipping industry has been further developed. There are many inland rivers and vast maritime areas in China, which contain abundant oil, natural gas, flammable ice, non-ferrous metals and other resources. Therefore, the development of marine resources and maritime shipping industry has become the focus of national strategic planning. As the main development tools, the design and manufacturing quality of warships and offshore operation platforms is of great significance, especially for the motion control of high-speed and large-scale ships. Ships are subject to more disturbances at sea. This paper establishes a model for the ship motion process, designs a ship motion controller combined with closed-loop gain shaping algorithm, and carries out the simulation test of the ship motion controller based on matlab.
With the gradual exhaustion of land resources and the entry of land transportation system into the bottleneck period of development, maritime shipping industry has been further developed. There are many inland rivers and vast maritime areas in China, which contain abundant oil, natural gas, flammable ice, non-ferrous metals and other resources. Therefore, the development of marine resources and maritime shipping industry has become the focus of national strategic planning. As the main development tools, the design and manufacturing quality of warships and offshore operation platforms is of great significance, especially for the motion control of high-speed and large-scale ships. Ships are subject to more disturbances at sea. This paper establishes a model for the ship motion process, designs a ship motion controller combined with closed-loop gain shaping algorithm, and carries out the simulation test of the ship motion controller based on matlab.
引文
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[4]李逃昌.基于级联式控制策略的农业机械自动导航控制方法研究[J].2014.
[5]王青,龚立纲,董朝阳.基于时变增益ESO的航天器无源姿态跟踪控制[J].控制与决策,2018.
[2]徐海军,李伟,张国庆,等.基于闭环增益成形算法的船舶航迹保持控制[J].中国航海,2016(4).
[3]张显库,张国庆,陈秀嘉.一种非线性反馈反步递推算法的线性弱化[J].控制与决策,2015(9):1641-1645.
[4]李逃昌.基于级联式控制策略的农业机械自动导航控制方法研究[J].2014.
[5]王青,龚立纲,董朝阳.基于时变增益ESO的航天器无源姿态跟踪控制[J].控制与决策,2018.