摘要
针对欠驱动船舶航行过程中受到内外部不确定因素的干扰,导致船舶不能准确跟踪至期望航向问题,结合分数阶理论和传统滑模理论的优点和可行性,对传统滑模的滑模面和趋近律进行改进。利用分数阶微积分算子代替整数阶微积分算子,构造出分数阶滑模面和分数阶趋近律,进而设计出基于分数阶滑模的船舶航向保持控制器。通过选取合适的分数阶阶次使船舶航向控制系统更具灵活性。通过MATLAB仿真进行控制器效果验证。仿真结果表明,基于分数阶滑模的船舶航向保持控制器能够在无干扰、有干扰两种情况下实现对船舶航向的快速、准确跟踪,具有良好的控制效果。
For the problem that underactuated ships can’t accurately track to the desired course due to the disturbance of internal and external uncertain factors during their navigation process,the sliding surface and the approach law of the traditional sliding mode are improved according to the advantages and feasibility of the fractional-order theory and the traditional sliding mode theory.The fractional-order calculus operator is used to replace the integer-order calculus operator to construct the fractional-order sliding mode surface and the fractional-order approach law,and the ship course keeping controller based on the fractional-order sliding mode is designed.The ship course control system is more flexible by selecting the appropriate fractional order.The controller effect is verified by MATLAB simulation.The simulation results show that,under the two conditions of without interference and interference,the ship course keeping controller based on the fractional-order sliding mode can track the ship course quickly and accurately,and is of good control effect.
作者
李伟
宁君
赵国栋
杜柏松
LI Wei;NING Jun;ZHAO Guodong;DU Baisong(Navigation College, Dalian Maritime University, Dalian 116026, Liaoning, China;College of Port and Transportation Engineering, Zhejiang Ocean University, Zhoushan 316022, Zhejiang, China)
出处
《上海海事大学学报》
北大核心
2020年第3期25-30,共6页
Journal of Shanghai Maritime University
基金
国家自然科学基金(61751202)
中央高校基本科研业务费项目(3132017115)
辽宁省自然科学基金(20170540098)。
关键词
航向保持控制
分数阶滑模控制
指数趋近律
分数阶趋近律
course keeping control
fractional-order sliding mode control
exponential approach law
fractional-order approach law
