引用本文:宋吉广,王继铭,梁利华,史洪宇.舵鳍联合自抗扰主从控制策略设计[J].控制理论与应用,2021,38(2):264~274.[点击复制]
SONG Ji-guang,WANG Ji-ming,LIANG Li-hua,SHI Hong-yu.Active disturbance rejection master-slaver strategy for rudder and fin integrated control[J].Control Theory and Technology,2021,38(2):264~274.[点击复制]
舵鳍联合自抗扰主从控制策略设计
Active disturbance rejection master-slaver strategy for rudder and fin integrated control
摘要点击 1501  全文点击 576  投稿时间：2020-05-28  修订日期：2020-09-03
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DOI编号  10.7641/CTA.2020.00301
  2021,38(2):264-274
中文关键词  舵鳍联合控制  非线性模型  非线性干扰观测器  自抗扰控制  主从结构
英文关键词  rudder fin integrated control  nonlinear models  nonlinear disturbance observer  active disturbance rejection control  master/slave architecture
基金项目  国家自然科学基金项目(50879012), 国家型号科研项目(KY10400160092)资助.
作者单位E-mail
宋吉广* 哈尔滨工程大学 自动化学院 hlhrbsong@163.com 
王继铭 哈尔滨工程大学 自动化学院  
梁利华 哈尔滨工程大学 自动化学院  
史洪宇 哈尔滨工程大学 自动化学院  
中文摘要
      在分析舰船航行中所受干扰特性的基础上, 针对目前舵鳍联合控制中存在的问题, 以虚拟控制力作为中间 变量, 设计了主从结构的舵鳍联合控制策略. 主控制器采用非线性干扰观测器对环境扰动和模型不确定性进行估 计, 在此基础上以虚拟控制力作为控制量采用自抗扰结构, 对船舶三自由度运动进行联合控制. 同时, 在主控制器设 计中包含了舵/鳍伺服系统的实际约束, 保证了从控制器解的可行性. 基于遗传算法设计了数值反演从控制器, 求取 最终的控制量. 通过船模试验和仿真对所设计的控制器进行了验证, 试验和仿真结果表明所设计的两步主从控制 策略具有较好的控制效果.
英文摘要
      In order to solve the existing problems in the integrated control of ship rudder and fin, some virtual control forces are employed as the intermediate variables, then a controller of master/slave architecture is proposed based on the analysis of disturbance characteristics. The nonlinear disturbance observer is used to estimate the environmental disturbances and model uncertainties in the master controller. The virtual control forces are employed to control the three degrees of freedom of ship jointed based on active disturbance rejection structure. In order to ensure the feasibility of the slave controller, the actual constraints of the rudder and fin servo system are taken into account in the master controller. After that, a numerical inversion slave controller is designed based on genetic algorithm to obtain the final control input. The proposed controller was investigated through some ship model tests and simulations at last. And the experimental and simulation results show that the proposed master-slave control strategy with two steps has better control effect.