欠驱动水面船舶非线性反馈控制研究
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摘要
为解决常规水面船舶的欠驱动和非完整运动特性、模型和干扰不确定性以及控制输入约束条件等控制问题,本文进行了欠驱动水面船舶非线性反馈控制的研究,主要工作和成果包括:
从传统线性反馈控制出发,提出了滑动模态的递归分解迭代设计思路,将系统的控制问题转化为一系列嵌套零阶系统的镇定问题,在此基础上结合增量反馈控制,提出了一种非线性反馈控制设计方法,从根源上避免了滑模设计和结构切换引起的抖振以及传统反馈的积分超调、稳态误差问题;
将控制设计方法从单变量系统推广到欠驱动系统和非完整系统,针对单极倒立摆系统、高维标准链式非完整系统和典型的非完整系统实例(NHI与WMR)进行了反馈镇定控制设计和仿真验证;
针对WMR、水面船舶以及类似系统的平面运动特点,提出一种全新的虚拟向导控制方法,将非完整系统的镇定控制问题转化为完整子系统的镇定问题,并为解决一般性非完整系统的控制问题提供了新的设计思路;
针对欠驱动水面船舶的航迹控制和镇定控制这两个国际热点和难点问题,充分考虑了未知风流干扰引起的横向漂移问题、操纵运动的非线性、模型不确定性以及主机和舵机工作特性,分别进行了直线、曲线路径跟踪和曲线轨迹跟踪控制设计,利用虚拟向导控制方法和基于轨迹跟踪方法分别进行了镇定控制设计,并针对欠驱动船舶横向运动和流致漂移的特性,进行了典型局面下欠驱动船舶自动靠泊控制设计,利用Matlab的Simulink环境设计了高精度及真实性的3自由度船舶操纵运动模拟程序,针对大连海事大学实习船“育龙”轮的运动模型进行了可信度和真实性较高的欠驱动船舶运动控制仿真验证。
理论分析和控制仿真实例表明,本文提出的控制设计方法在解决处理欠驱动船舶的运动控制问题和系统非完整约束方面具有有效性和构造性。
In order to solve the motion control problems of underactuated surface ships with second order nonholonomic constraint, systemic uncertainties, and saturations on actuators, nonlinear feedback control designing is focused in this dissertation.
From conventional feedback control, a recursive sliding mode designing procedure is derived and proposed, by which the control objectives can be transformed into stabilization of a series of nested scalar zero-order-systems. Integrated with increment feedback, a novel feedback control method is developed. Problems of the chattering in variable structure control and the overshoot or static error are circumvented.
The proposed control method is extended to underactuated and nonholonomic systems. Stabilization control laws are presented with simulation results for chained-form-system, nonholonomic integrator and wheeled mobile robot(WMR).
For a class of planar nonholonomic systems, like WMR and surface ships, a novel virtual guide control method is presented, by which the nonholo- nomic stabilization can be transformed into control problems of holonomic subsystems.
For the challenging problems of tracking and stabilization control of underactuated surface ships, nonlinear feedback control laws are presented for straight/curved path following, trajectory tracking, underactuated positioning, and typical automatic berthing control utilizing ships' characteristic kinematics. The systemic uncertainties, high nonlinearity, lateral drift caused by current or wind, and saturations and mechanism characteristics on/of actuators were well considered. Numerical simulations were carried out on a full nonlinear hydrodynamic model of a training ship "YULONG". High reliable results are presented to validate the robustness and excellent performance of the proposed algorithms.
By theoretical analysis and control examples, the effectiveness and constructive -ness of the proposed control method are demonstrated in dealing with motion control of underactuated ships and nonholonomic control problems.
从传统线性反馈控制出发,提出了滑动模态的递归分解迭代设计思路,将系统的控制问题转化为一系列嵌套零阶系统的镇定问题,在此基础上结合增量反馈控制,提出了一种非线性反馈控制设计方法,从根源上避免了滑模设计和结构切换引起的抖振以及传统反馈的积分超调、稳态误差问题;
将控制设计方法从单变量系统推广到欠驱动系统和非完整系统,针对单极倒立摆系统、高维标准链式非完整系统和典型的非完整系统实例(NHI与WMR)进行了反馈镇定控制设计和仿真验证;
针对WMR、水面船舶以及类似系统的平面运动特点,提出一种全新的虚拟向导控制方法,将非完整系统的镇定控制问题转化为完整子系统的镇定问题,并为解决一般性非完整系统的控制问题提供了新的设计思路;
针对欠驱动水面船舶的航迹控制和镇定控制这两个国际热点和难点问题,充分考虑了未知风流干扰引起的横向漂移问题、操纵运动的非线性、模型不确定性以及主机和舵机工作特性,分别进行了直线、曲线路径跟踪和曲线轨迹跟踪控制设计,利用虚拟向导控制方法和基于轨迹跟踪方法分别进行了镇定控制设计,并针对欠驱动船舶横向运动和流致漂移的特性,进行了典型局面下欠驱动船舶自动靠泊控制设计,利用Matlab的Simulink环境设计了高精度及真实性的3自由度船舶操纵运动模拟程序,针对大连海事大学实习船“育龙”轮的运动模型进行了可信度和真实性较高的欠驱动船舶运动控制仿真验证。
理论分析和控制仿真实例表明,本文提出的控制设计方法在解决处理欠驱动船舶的运动控制问题和系统非完整约束方面具有有效性和构造性。
In order to solve the motion control problems of underactuated surface ships with second order nonholonomic constraint, systemic uncertainties, and saturations on actuators, nonlinear feedback control designing is focused in this dissertation.
From conventional feedback control, a recursive sliding mode designing procedure is derived and proposed, by which the control objectives can be transformed into stabilization of a series of nested scalar zero-order-systems. Integrated with increment feedback, a novel feedback control method is developed. Problems of the chattering in variable structure control and the overshoot or static error are circumvented.
The proposed control method is extended to underactuated and nonholonomic systems. Stabilization control laws are presented with simulation results for chained-form-system, nonholonomic integrator and wheeled mobile robot(WMR).
For a class of planar nonholonomic systems, like WMR and surface ships, a novel virtual guide control method is presented, by which the nonholo- nomic stabilization can be transformed into control problems of holonomic subsystems.
For the challenging problems of tracking and stabilization control of underactuated surface ships, nonlinear feedback control laws are presented for straight/curved path following, trajectory tracking, underactuated positioning, and typical automatic berthing control utilizing ships' characteristic kinematics. The systemic uncertainties, high nonlinearity, lateral drift caused by current or wind, and saturations and mechanism characteristics on/of actuators were well considered. Numerical simulations were carried out on a full nonlinear hydrodynamic model of a training ship "YULONG". High reliable results are presented to validate the robustness and excellent performance of the proposed algorithms.
By theoretical analysis and control examples, the effectiveness and constructive -ness of the proposed control method are demonstrated in dealing with motion control of underactuated ships and nonholonomic control problems.
引文
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