船舶運動飽和控制
發(fā)布時間：2018-09-17 15:32
【摘要】：20世紀80年代末90年代初,Backstepping設計方法被提出,這是一種構造反饋控制率和Lyapunov函數的遞歸非線性設計方法,一直沿用至今,它是解決非線性系統(tǒng)控制問題的一種有效方法。由于研究的需要,本文對Backstepping設計方法和Lyapunov穩(wěn)定性理論進行了介紹。 首先,對于一類非線性系統(tǒng)的輸入飽和限制問題,針對系統(tǒng)帶有參數不確定和未知干擾的情況,利用雙曲正切函數逼近飽和非線性輔助補償,提出了一種控制算法,保證了系統(tǒng)的穩(wěn)定性,得到了良好的控制效果。 然后,對于船舶航向保持控制系統(tǒng)也存在輸入飽和問題,本文又將此算法應用到船舶的航向保持控制系統(tǒng),有針對性地設計出了一個船舶航向保持控制器。該控制器能夠使船舶在跟蹤設定航向時誤差任意小,達到系統(tǒng)漸近穩(wěn)定。 本文的控制器算法保證了閉環(huán)系統(tǒng)的穩(wěn)定性,并且都能使得航向跟蹤誤差任意小,最后用MATLAB進行仿真研究,驗證了控制器的有效性。
[Abstract]:The backstepping design method was proposed in the late 1980s and early 1990s. It is a recursive nonlinear design method for constructing feedback control rate and Lyapunov function. It is an effective method to solve the control problem of nonlinear systems. Due to the need of research, the Backstepping design method and Lyapunov stability theory are introduced in this paper. Firstly, for the input saturation limitation problem of a class of nonlinear systems, a control algorithm is proposed for the system with uncertain parameters and unknown disturbances, and the hyperbolic tangent function is used to approximate the saturation nonlinear auxiliary compensation. The stability of the system is guaranteed and good control effect is obtained. Then, for the problem of input saturation in the ship course keeping control system, this paper applies this algorithm to the ship course maintenance control system, and designs a ship course maintenance controller. The controller can make the error of ship track and set course any small and achieve the asymptotic stability of the system. The stability of the closed-loop system is guaranteed by the controller algorithm in this paper, and the course tracking error can be reduced arbitrarily. Finally, the simulation research with MATLAB is carried out to verify the validity of the controller.
【學位授予單位】：大連海事大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：U664.82
本文編號：2246350
[Abstract]:The backstepping design method was proposed in the late 1980s and early 1990s. It is a recursive nonlinear design method for constructing feedback control rate and Lyapunov function. It is an effective method to solve the control problem of nonlinear systems. Due to the need of research, the Backstepping design method and Lyapunov stability theory are introduced in this paper. Firstly, for the input saturation limitation problem of a class of nonlinear systems, a control algorithm is proposed for the system with uncertain parameters and unknown disturbances, and the hyperbolic tangent function is used to approximate the saturation nonlinear auxiliary compensation. The stability of the system is guaranteed and good control effect is obtained. Then, for the problem of input saturation in the ship course keeping control system, this paper applies this algorithm to the ship course maintenance control system, and designs a ship course maintenance controller. The controller can make the error of ship track and set course any small and achieve the asymptotic stability of the system. The stability of the closed-loop system is guaranteed by the controller algorithm in this paper, and the course tracking error can be reduced arbitrarily. Finally, the simulation research with MATLAB is carried out to verify the validity of the controller.
【學位授予單位】：大連海事大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：U664.82
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，本文編號：2246350
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