基于扩张状态观测器的智能船舶循迹预测控制

doi:10.12141/j.issn.1000-565X.210180

华南理工大学学报(自然科学版) ›› 2021, Vol. 49 ›› Issue (12): 143-152.doi: 10.12141/j.issn.1000-565X.210180

所属专题： 2021年交通运输工程

• 交通运输工程 • 上一篇

基于扩张状态观测器的智能船舶循迹预测控制

徐海祥¹李超逸²余文曌¹韩素敏²魏跃峰³杨素军³

1.武汉理工大学高性能船舶技术教育部重点实验室，湖北武汉 430063；2.武汉理工大学交通学院，
湖北武汉 430063；3.中国船舶及海洋工程设计研究院喷水推进技术重点实验室，上海 200011

收稿日期:2021-04-01 修回日期:2021-05-10 出版日期:2021-12-25 发布日期:2021-12-01
通信作者: 徐海祥（1975-），男，博士，教授，主要从事海洋智能装备与系统研究。 E-mail:qukaiyang@163.com
作者简介:徐海祥（1975-），男，博士，教授，主要从事海洋智能装备与系统研究。
基金资助:
国家自然科学基金资助项目（51879210,51979210）

Model predicted control for underactuated ship path following based on extended state observer

XU Haixiang¹ LI Chaoyi² YU Wenzhao¹ HAN Sumin² WEI Yuefeng³ YANG Sujun³

1. Key Laboratory of High Performance Ship Technology of Ministry of Education, Wuhan University of Technology, Wuhan 430063, Hubei, China; 2. School of Transportation, Wuhan University of Technology, Wuhan 430063, Hubei, China；3. Science and Technology on Water Jet Propulsion Laboratory, Marine Design and Research Institute of China, Shanghai 200011, China

Received:2021-04-01 Revised:2021-05-10 Online:2021-12-25 Published:2021-12-01
Contact: 徐海祥（1975-），男，博士，教授，主要从事海洋智能装备与系统研究。 E-mail:qukaiyang@163.com
About author:徐海祥（1975-），男，博士，教授，主要从事海洋智能装备与系统研究。
Supported by:
Supported by the National Natural Science Foundation of China(51879210,51979210)

摘要/Abstract

摘要： 欠驱动船舶循迹过程中受到时变多源干扰的影响，同时在航行转艏处易产生控制力突变现象。针对上述两方面的问题，文中将扩张状态观测器(ESO)与模型预测控制(MPC)相结合，提出了一种最优循迹控制方法。首先，设计了扩张状态观测器对时变多源干扰进行补偿并提供低频控制输入；其次，以优化船舶航行控制力为目标，设计了一种非线性MPC控制器；最后，基于非线性分离式原理证明了ESO-MPC级联控制器的稳定性。并通过与自抗扰控制方法(ADRC)及MPC控制方法进行仿真对比，验证了该控制方法的有效性。

关键词:

船舶循迹, 扩张状态观测器, 模型预测控制, 非线性分离式原理, 自抗扰控制

Abstract: Underactuated ships are facing problems of interference of time-varying multi-source disturbance and sudden changes in control force at the turning points during path following. Aiming at the above two problems, this paper proposed an optimal control method by combining the extended state observer with model predictive control. Firstly, the ESO extended state observer was designed to compensate for time-varying multi-source disturbance and provide low-frequency control input. Secondly, a nonlinear MPC controller was designed to optimize the control force. Finally, the stability of the ESO-MPC cascade controller was proved based on the nonlinear separation principle. The simulation comparison with active disturbance rejection control method and MPC control method verified the effectiveness of the proposed ESO-MPC cascade control method.

Key words:

ship path following, extended state observer, model predictive control, nonlinear separation principal, active disturbance rejection control

中图分类号:

U675.91

徐海祥, 李超逸, 余文曌, 等. 基于扩张状态观测器的智能船舶循迹预测控制[J]. 华南理工大学学报(自然科学版), 2021, 49(12): 143-152.

Chao-Yi Li. Model predicted control for underactuated ship path following based on extended state observer[J]. Journal of South China University of Technology(Natural Science Edition), 2021, 49(12): 143-152.

基于扩张状态观测器的智能船舶循迹预测控制

Model predicted control for underactuated ship path following based on extended state observer

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 0

编辑推荐

Metrics

本文评价