欠驱动水面船舶航迹自抗扰控制研究
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摘要
为解决常规水面船舶的欠驱动、系统内部动态和外部干扰不确定性、控制输入饱和、运动状态约束条件特性及风流干扰作用下的横漂等控制问题,本文进行了基于自抗扰控制的欠驱动水面船舶航迹控制的研究,主要工作和成果包括：
1.欠驱动船舶非线性动力学模型的研究：基于船舶分离型模型并结合前人试验数据,建立了精度较高的欠驱动船舶运动数学模型；结合模型分析了船舶运动特性；应用建立的船舶非线性水动力模型,在Matlab Simulink环境下搭建了高精度的三自由度船舶运动控制仿真平台,为后面验证航迹跟踪控制器的有效性打下基础。
2.滑模自抗扰控制算法的研究：利用扩张状态观测器能够求微分的功能将跟踪控制问题转化为镇定控制问题,简化了自抗扰控制结构；提出了滑模自抗扰控制方法,应用滑模迭代方法设计自抗扰控制律中误差反馈环节,并分别利用线性滑模和具有约束条件的非线性滑模设计误差反馈控制律以解决船舶运动状态的约束条件特性问题,改进了自抗扰控制的结构,参数物理意义明显、调整简单直观；应用单调有界的双曲正切函数解决自抗扰控制输入饱和的问题。
3.船舶路径跟踪自抗扰控制设计的研究：利用自抗扰控制主动抗扰模式,控制设计时不考虑航向,直接将船舶路径的横向偏差作为被控制量,设计了基于无参考航向角的滑模自抗扰路径跟踪控制器,实现了船舶的初始船首向与计划航向差值小于90度时的直线和曲线路径跟踪；利用双曲正切函数的单调有界性设计了路径横向偏差与航向偏差的非线性组合函数,并将对其镇定作为控制目标,设计了基于参考航向的路径跟踪自抗扰控制器,确保船舶在初始船首向与计划航向角差值大于90度依然能够回到计划航线；为解决风流干扰造成的船舶横漂问题,基于参考航向的船舶路径跟踪控制算法,采用如下三种各自独立的控制设计方法进行船舶路径跟踪自抗扰控制设计,实现了欠驱动船舶能够在风流干扰作用下对直线和(或)曲线路径的跟踪控制。三种方法分别为：(1)基于Backstepping思想的路径跟踪控制；(2)基于航迹向跟踪的路径跟踪控制；(3)基于构造期望参考船首向的路径跟踪控制。
4.船舶轨迹跟踪自抗扰分散控制设计的研究：将分散控制理论应用于欠驱动船舶航迹跟踪控制,结合自抗扰控制方法,针对多输入多输出船舶轨迹跟踪控制系统设计欠驱动船舶轨迹跟踪自抗扰分散控制器,设计思路是将命令舵角和螺旋桨转速看做系统的控制输入,舵角控制船舶路径、螺旋桨转速控制前进速度,将耦合部分纳入总扰动由扩张状态观测器根据系统的输入和输出进行实时估计并在控制律中加以补偿。
5.以大连海事大学实习船“育龙”轮为仿真对象,基于第二章搭建的仿真、平台进行了大量仿真实验,验证了本文提出的控制方法的有效性。
To solve the control problems on the characteristics of underactuation, systemic uncertainty of internal dynamic and external disturbances, control input saturation, motion constraint conditions, lateral drifting caused by the wind and current for conventional surface ships, the research of ship tracking control for underactuated surface is conducted based on Active Disturbance Rejection Control (ADRC) theory in this dissertation. The following main work and the achievement include:
1. The study of nonlinear kinetic model of underactuated ship:A high precision maneuvering mathematic modeling of underactuated ship is designed by use of MMG(Manoeuvring Mathematical Model Group) model and experimental data from the literature; the ship motion characteristics was analyzed according to the above model; the simulation platform of ship motion with three degrees of freedom was built in the circumstance of Matlab Simulink.
2. The study of slide mode ADRC algorithm:Tracking control problem was transformed into stabilization problem by use of differential ability of extended state observer (ESO), which simplified the structure of ADRC algorithm; The sliding mode ADRC approach is put forward, which means that error feedback in ADRC law was designed using the sliding mode iteration approach. The problem of constrained condition characteristic about control object is solved by using respectively linear slide mode and nonlinear slide mode with constrained conditions to design feedback control law, so the ADRC of improved structure made the parameters evident physical interpretation, easier and more intuitive to be tuned. The method of dealing with the problem of ADRC input saturation is proposed by use of monotone bounded hyperbolic tangent function.
3. The study of ADRC design for ship path following:Firstly, taking advantage of the rejecting actively disturbance mode of ADRC, a sliding mode ADRC controller was designed according to the cross error of ship path ignoring reference course angle method which realized the ship tracking straight and curve path, and this method was applicable to the condition that is no more than90degrees of deviation between initial ship heading and planned course; Secondly, to design a nonlinear stabilization function combined path deviation with course deviation, the controller of path following is proposed based on the reference course, which applicable to the condition that is more than90degrees of deviation between initial ship heading and planned course; Thirdly, to solve the ship lateral drifting problem caused by the disturbances of wind and current, the following three separate ship tracking control methods is put forward:(1) Ship path following control based on Backstepping method;(2) Ship path following control based on CG (course made good) tracking;(3) Ship path following control by constructing desired reference ship heading angle. The above ADRC path following controllers were designed to realize tracking control of underactuated surface ship for straight line and/or curve path under the disturbance of wind and current.
4. The study of ADRC design for ship trajectory tracking:Applying decentralized control theory combining with ADRC method to ship trajectory tracking control, the ADRC decentralized controller was designed for the multiple input and multiple output system of ship trajectory tracking, which idea was that the command rudder angle and rotating speed of propeller was regarded as control input, and path is controlled by rudder angle and speed is controlled by revolving speed of propeller, the coupling part was put into the total disturbance of system. The total disturbance was estimated at real time by ESO as per input and output of the system, and was compensated in control law.
5. Extensive simulation experiments on the emulational platform constructed in chapter2were performed based on the training ship "Yulong" of Dalian Maritime University verified the effectiveness of the control methods proposed in this dissertation.
1.欠驱动船舶非线性动力学模型的研究：基于船舶分离型模型并结合前人试验数据,建立了精度较高的欠驱动船舶运动数学模型；结合模型分析了船舶运动特性；应用建立的船舶非线性水动力模型,在Matlab Simulink环境下搭建了高精度的三自由度船舶运动控制仿真平台,为后面验证航迹跟踪控制器的有效性打下基础。
2.滑模自抗扰控制算法的研究：利用扩张状态观测器能够求微分的功能将跟踪控制问题转化为镇定控制问题,简化了自抗扰控制结构；提出了滑模自抗扰控制方法,应用滑模迭代方法设计自抗扰控制律中误差反馈环节,并分别利用线性滑模和具有约束条件的非线性滑模设计误差反馈控制律以解决船舶运动状态的约束条件特性问题,改进了自抗扰控制的结构,参数物理意义明显、调整简单直观；应用单调有界的双曲正切函数解决自抗扰控制输入饱和的问题。
3.船舶路径跟踪自抗扰控制设计的研究：利用自抗扰控制主动抗扰模式,控制设计时不考虑航向,直接将船舶路径的横向偏差作为被控制量,设计了基于无参考航向角的滑模自抗扰路径跟踪控制器,实现了船舶的初始船首向与计划航向差值小于90度时的直线和曲线路径跟踪；利用双曲正切函数的单调有界性设计了路径横向偏差与航向偏差的非线性组合函数,并将对其镇定作为控制目标,设计了基于参考航向的路径跟踪自抗扰控制器,确保船舶在初始船首向与计划航向角差值大于90度依然能够回到计划航线；为解决风流干扰造成的船舶横漂问题,基于参考航向的船舶路径跟踪控制算法,采用如下三种各自独立的控制设计方法进行船舶路径跟踪自抗扰控制设计,实现了欠驱动船舶能够在风流干扰作用下对直线和(或)曲线路径的跟踪控制。三种方法分别为：(1)基于Backstepping思想的路径跟踪控制；(2)基于航迹向跟踪的路径跟踪控制；(3)基于构造期望参考船首向的路径跟踪控制。
4.船舶轨迹跟踪自抗扰分散控制设计的研究：将分散控制理论应用于欠驱动船舶航迹跟踪控制,结合自抗扰控制方法,针对多输入多输出船舶轨迹跟踪控制系统设计欠驱动船舶轨迹跟踪自抗扰分散控制器,设计思路是将命令舵角和螺旋桨转速看做系统的控制输入,舵角控制船舶路径、螺旋桨转速控制前进速度,将耦合部分纳入总扰动由扩张状态观测器根据系统的输入和输出进行实时估计并在控制律中加以补偿。
5.以大连海事大学实习船“育龙”轮为仿真对象,基于第二章搭建的仿真、平台进行了大量仿真实验,验证了本文提出的控制方法的有效性。
To solve the control problems on the characteristics of underactuation, systemic uncertainty of internal dynamic and external disturbances, control input saturation, motion constraint conditions, lateral drifting caused by the wind and current for conventional surface ships, the research of ship tracking control for underactuated surface is conducted based on Active Disturbance Rejection Control (ADRC) theory in this dissertation. The following main work and the achievement include:
1. The study of nonlinear kinetic model of underactuated ship:A high precision maneuvering mathematic modeling of underactuated ship is designed by use of MMG(Manoeuvring Mathematical Model Group) model and experimental data from the literature; the ship motion characteristics was analyzed according to the above model; the simulation platform of ship motion with three degrees of freedom was built in the circumstance of Matlab Simulink.
2. The study of slide mode ADRC algorithm:Tracking control problem was transformed into stabilization problem by use of differential ability of extended state observer (ESO), which simplified the structure of ADRC algorithm; The sliding mode ADRC approach is put forward, which means that error feedback in ADRC law was designed using the sliding mode iteration approach. The problem of constrained condition characteristic about control object is solved by using respectively linear slide mode and nonlinear slide mode with constrained conditions to design feedback control law, so the ADRC of improved structure made the parameters evident physical interpretation, easier and more intuitive to be tuned. The method of dealing with the problem of ADRC input saturation is proposed by use of monotone bounded hyperbolic tangent function.
3. The study of ADRC design for ship path following:Firstly, taking advantage of the rejecting actively disturbance mode of ADRC, a sliding mode ADRC controller was designed according to the cross error of ship path ignoring reference course angle method which realized the ship tracking straight and curve path, and this method was applicable to the condition that is no more than90degrees of deviation between initial ship heading and planned course; Secondly, to design a nonlinear stabilization function combined path deviation with course deviation, the controller of path following is proposed based on the reference course, which applicable to the condition that is more than90degrees of deviation between initial ship heading and planned course; Thirdly, to solve the ship lateral drifting problem caused by the disturbances of wind and current, the following three separate ship tracking control methods is put forward:(1) Ship path following control based on Backstepping method;(2) Ship path following control based on CG (course made good) tracking;(3) Ship path following control by constructing desired reference ship heading angle. The above ADRC path following controllers were designed to realize tracking control of underactuated surface ship for straight line and/or curve path under the disturbance of wind and current.
4. The study of ADRC design for ship trajectory tracking:Applying decentralized control theory combining with ADRC method to ship trajectory tracking control, the ADRC decentralized controller was designed for the multiple input and multiple output system of ship trajectory tracking, which idea was that the command rudder angle and rotating speed of propeller was regarded as control input, and path is controlled by rudder angle and speed is controlled by revolving speed of propeller, the coupling part was put into the total disturbance of system. The total disturbance was estimated at real time by ESO as per input and output of the system, and was compensated in control law.
5. Extensive simulation experiments on the emulational platform constructed in chapter2were performed based on the training ship "Yulong" of Dalian Maritime University verified the effectiveness of the control methods proposed in this dissertation.
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