摘要
针对欠驱动水质检测船在外界风、浪扰动以及模型系统存在不确定性参数的情况下,存在直线路径跟踪航向偏离及航向偏差修正速度慢的问题,提出采用有限时间控制理论设计航向控制系统。首先建立欠驱动水质检测船航向控制的数学模型,将复杂非线性的航向控制简化为一个二阶系统,简化了设计复杂度;然后基于齐次性理论设计有限时间航向控制律,通过分数幂提高系统的收敛速度与鲁棒性,结合扩展状态观测器对误差扰动进行估计,提高了控制性能。仿真结果表明,采用有限时间航向控制的水质检测船可将航向角误差控制在0.1°,有效增强了水质检测船的抗干扰能力,保证了作业路径跟踪精度。
In order to solve the problem of linear path tracking heading deviation and slow correction speed of heading deviation of un⁃deractuated water quality detection ship under the condition of external wind and wave disturbance and uncertain parameters of model system,a finite time control theory is proposed to design the heading control system.Firstly,the mathematical model of the course con⁃trol of the underactuated water quality detection ship is established,and the complex nonlinear course control is simplified as a secondorder system,which simplifies the design complexity.Secondly,the finite time course control law is designed based on the homoge⁃neous theory,which improves the convergence speed and robustness of the system by fractional power,and estimates the error distur⁃bance by combining with the extended state observer,which improves the control efficiency Performance.The simulation results show that the course angle error can be controlled within 0.1°by using the finite time course control,which can effectively enhance the antiinterference ability of the water quality detection ship and ensure the accuracy of operation path tracking.
作者
石子坚
赵德安
孙月平
SHI Zi-jian;ZHAO De-an;SUN Yue-ping(School of Electrical Information Engineering,Jiangsu University,Zhenjiang 212013,China)
出处
《软件导刊》
2022年第1期152-155,共4页
Software Guide
基金
江苏省自然科学基金项目(BK20170536)
广东省重点领域研发计划项目(2020B0202010009)。
关键词
水质检测船
直线路径跟踪
航向控制
有限时间控制
water quality detection ship
linear path tracking
course control
finite time control
