半潜式海洋平台输出反馈终端滑模动力定位系统
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摘要
针对半潜式海洋平台动力定位系统,通过构造等效输出注入滑模观测器(SMO)以及引入终端滑模控制(TSMC)原理,提出一种输出反馈终端滑模控制方法,运用Lyapunov方法进行稳定性证明。结果表明:SMO方法解决了对船舶速度的估计和来自缓慢变化环境负载的偏差,能过滤掉高频率运动,以避免执行机构的磨损和过度的燃料消耗;设计的输出反馈终端滑模控制算法可保证系统状态在有限时间内稳定到平衡点附近,实现系统的闭环稳定,同时具有很强的鲁棒性。通过仿真结果验证了所设计观测器和控制器的有效性,能够实现复杂干扰下海洋平台的有限时间动力定位和轨迹追踪控制。
An output feedback terminal sliding mode control method was proposed for the dynamic positioning system of semisubmersible offshore platform by constructing the equivalent output injection sliding mode observer( SMO),and introducing the terminal sliding mode control( TSMC).The system stability was proved by the Lyapunov method. The result shows that,the SMO method can provide estimation of the ship speed and the bias from slowly varying environmental loads,and can filter out high frequency motions to avoid actuator wear and excessive fuel consumption. The feedback terminal sliding mode control algorithm will ensure that the system states be stable near the equilibrium point within a finite period,which realizes the system closed-loop stability and has strong robustness. The simulation results verify the effectiveness of the proposed method. It can realize the finite time dynamic positioning and trajectory tracking control of the semi-submersible offshore platform under complex disturbance.
An output feedback terminal sliding mode control method was proposed for the dynamic positioning system of semisubmersible offshore platform by constructing the equivalent output injection sliding mode observer( SMO),and introducing the terminal sliding mode control( TSMC).The system stability was proved by the Lyapunov method. The result shows that,the SMO method can provide estimation of the ship speed and the bias from slowly varying environmental loads,and can filter out high frequency motions to avoid actuator wear and excessive fuel consumption. The feedback terminal sliding mode control algorithm will ensure that the system states be stable near the equilibrium point within a finite period,which realizes the system closed-loop stability and has strong robustness. The simulation results verify the effectiveness of the proposed method. It can realize the finite time dynamic positioning and trajectory tracking control of the semi-submersible offshore platform under complex disturbance.
引文
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[2]余培文,陈辉,刘芙蓉.船舶动力定位系统控制技术的发展与展望[J].中国水运,2009(2):44-45.YU Peiwen,CHEN Hui,LIU Furong. Development and prospect of control technology for ship dynamic positioning system[J]. China Water Transport,2009(2):44-45.
[3] BALCHEN J G,JENSSEN N A,MATHISEN E,et al.Dynamic positioning of floating vesselsbased on Kalman filtering and optimal control[J]. Decision and Control,1980,2:852-864.
[4] FOSSEN T I,GROVLEN A. Nonlinear output feedback control of dynamically positioned ships using vectorial observer backstepping[J]. IEEE Transactions on Control Systems Technology,1998,6(1):121-128.
[5] FOSSEN T I,STRAND J P. Passive nonlinear observer design for ships using Lyapunov methods:full-scale experiments with a supply vessel[J]. Automatica,1999,35(1):3-16.
[6] BALCHEN J G. A modified LQG algorithm(MLQG)for robust control of nonlinear multivariable systems[J].Modeling Identification&Control,1993,14(3):175-180.
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[11] KIM MH,INMAN D J. Development of a robust non-linear observer for dynamic positioning of ships[J]. Journal of Systems&Control Engineering,2004,218(1):1-11.
[12]杜佳璐,杨杨,郭晨,等.基于高增益观测器的船舶动力定位系统的输出反馈控制[J].控制理论与应用,2013,30(11):1486-1491.DU Jialu,YANG Yang,GUO Chen,et al. Output feedback control for dynamic positioning system of a ship based on a high gain observer[J]. Control Theory&Applications,2013,30(11):1486-1491.
[13]杜佳璐,李文华,郑凯,等.船舶动力定位系统的非线性输出反馈控制[J].华南理工大学学报(自然科学版),2012,40(2):70-75.DU Jialu,LI Wenhua,ZHENG Kai,et al. Nonlinear output feedback control of dynamic positioning system of ships[J]. Journal of South China University of Technology(Natural Science Edition),2012,40(2):70-75.
[14] DORLING C M,ZINOBER A S I. Two approaches to hyperplane design in multivariable variable structure control systems[J]. International Journal of Control,1986,44(1):65-82.
[15]何黎明,田作华,施颂椒.动力定位船舶的非线性观测器设计[J].上海交通大学学报,2003,37(6):964-968.HE Lihua,TIAN Zuohua,SHI Songjiao. A Nonlinear observer design for dynamic positioning ship[J]. Journal of Shanhai Jiao Tong University,2003,37(6):964-968.
[16] ASGEIR J S,RENSEN. Structural issues in the design and operation of marine control systems[J]. Annual Reviews in Control,2005,29(1):125-149.
[17] CUNHA J P V S,COSTA R R,LIZARRALDE F,et al.Peaking free variable structure control of uncertain linear systems based on a high-gain observer[J]. Automatica,2009,45(5):1156-1164.
[18] ZHAO D,LI S,ZHU Q. Output feedback terminal sliding mode control for a class of second order nonlinear systems[J]. Asian Journal of Control,2013,15(1):237-247.
[19]张加胜,潘大伟.四象限变流系统建模及滑模控制方法[J].中国石油大学学报(自然科学版),2008,32(2):149-154.ZHANG Jiangsheng,PAN Dawei. Modeling and sliding mode control of four quadrant converter system[J].Journal of China university of Petroleum(Edition of Natural Science),2008,32(2):149-154.
[20]和红磊,王玉龙.基于滑模自抗扰的半潜式海洋平台动力定位控制方法研究[J].船舶工程,2016(11):72-77.HE Honglei,WANG Yulong. Research on dynamic positioning control method of semi submersible offshore platform based on sliding mode auto disturbance rejection[J]. Ship Engineering,2016(11):72-77.
[21] LIU Wei,PANG Yongjie. Research on dynamic simulation of DP for a deep water semi-submersible platform:Proceedings of the 1st International Conference on Mechanical Engineering and Material Science[C]. Yangzhou:Atlantis Press,2012.
[2]余培文,陈辉,刘芙蓉.船舶动力定位系统控制技术的发展与展望[J].中国水运,2009(2):44-45.YU Peiwen,CHEN Hui,LIU Furong. Development and prospect of control technology for ship dynamic positioning system[J]. China Water Transport,2009(2):44-45.
[3] BALCHEN J G,JENSSEN N A,MATHISEN E,et al.Dynamic positioning of floating vesselsbased on Kalman filtering and optimal control[J]. Decision and Control,1980,2:852-864.
[4] FOSSEN T I,GROVLEN A. Nonlinear output feedback control of dynamically positioned ships using vectorial observer backstepping[J]. IEEE Transactions on Control Systems Technology,1998,6(1):121-128.
[5] FOSSEN T I,STRAND J P. Passive nonlinear observer design for ships using Lyapunov methods:full-scale experiments with a supply vessel[J]. Automatica,1999,35(1):3-16.
[6] BALCHEN J G. A modified LQG algorithm(MLQG)for robust control of nonlinear multivariable systems[J].Modeling Identification&Control,1993,14(3):175-180.
[7] SRENSEN A J,SAGATUN S I,FOSSEN T I. Design of a dynamic positioning system using model-based control[J]. Control Engineering Practice,1996,4(3):359-368.
[8] TANNURI E A,DONHA D C,PESCE C P. Dynamic positioning of a turret moored FPSO using sliding mode control[J]. International Journal of Robust&Nonlinear Control,2001,11(13):1239-1256.
[9] TANNURI E A,AGOSTINHO A C,MORISHITA H M,et al. Dynamic positioning systems:an experimental analysis of sliding mode control[J]. Control Engineering Practice,2010,18(10):1121-1132.
[10] ASHRAFIUON H,MUSKE K R,MCNINCH L C,et al.Sliding-mode tracking control of surface vessels[J].IEEE Transactions on Industrial Electronics,2008,55(11):4004-4012.
[11] KIM MH,INMAN D J. Development of a robust non-linear observer for dynamic positioning of ships[J]. Journal of Systems&Control Engineering,2004,218(1):1-11.
[12]杜佳璐,杨杨,郭晨,等.基于高增益观测器的船舶动力定位系统的输出反馈控制[J].控制理论与应用,2013,30(11):1486-1491.DU Jialu,YANG Yang,GUO Chen,et al. Output feedback control for dynamic positioning system of a ship based on a high gain observer[J]. Control Theory&Applications,2013,30(11):1486-1491.
[13]杜佳璐,李文华,郑凯,等.船舶动力定位系统的非线性输出反馈控制[J].华南理工大学学报(自然科学版),2012,40(2):70-75.DU Jialu,LI Wenhua,ZHENG Kai,et al. Nonlinear output feedback control of dynamic positioning system of ships[J]. Journal of South China University of Technology(Natural Science Edition),2012,40(2):70-75.
[14] DORLING C M,ZINOBER A S I. Two approaches to hyperplane design in multivariable variable structure control systems[J]. International Journal of Control,1986,44(1):65-82.
[15]何黎明,田作华,施颂椒.动力定位船舶的非线性观测器设计[J].上海交通大学学报,2003,37(6):964-968.HE Lihua,TIAN Zuohua,SHI Songjiao. A Nonlinear observer design for dynamic positioning ship[J]. Journal of Shanhai Jiao Tong University,2003,37(6):964-968.
[16] ASGEIR J S,RENSEN. Structural issues in the design and operation of marine control systems[J]. Annual Reviews in Control,2005,29(1):125-149.
[17] CUNHA J P V S,COSTA R R,LIZARRALDE F,et al.Peaking free variable structure control of uncertain linear systems based on a high-gain observer[J]. Automatica,2009,45(5):1156-1164.
[18] ZHAO D,LI S,ZHU Q. Output feedback terminal sliding mode control for a class of second order nonlinear systems[J]. Asian Journal of Control,2013,15(1):237-247.
[19]张加胜,潘大伟.四象限变流系统建模及滑模控制方法[J].中国石油大学学报(自然科学版),2008,32(2):149-154.ZHANG Jiangsheng,PAN Dawei. Modeling and sliding mode control of four quadrant converter system[J].Journal of China university of Petroleum(Edition of Natural Science),2008,32(2):149-154.
[20]和红磊,王玉龙.基于滑模自抗扰的半潜式海洋平台动力定位控制方法研究[J].船舶工程,2016(11):72-77.HE Honglei,WANG Yulong. Research on dynamic positioning control method of semi submersible offshore platform based on sliding mode auto disturbance rejection[J]. Ship Engineering,2016(11):72-77.
[21] LIU Wei,PANG Yongjie. Research on dynamic simulation of DP for a deep water semi-submersible platform:Proceedings of the 1st International Conference on Mechanical Engineering and Material Science[C]. Yangzhou:Atlantis Press,2012.