基于非线性反馈积分滑模控制的船舶航向自动舵设计
Design of Steering Pilot Featuring Integral Sliding Mode Control with Nonlinear Feedback
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摘要: 为设计一种节能并且鲁棒性强的船舶航向保持控制器，将非线性反馈算法与积分滑模控制相结合，设计非线性反馈积分滑模控制器用于船舶航向保持。非线性反馈积分滑模控制器建立在积分滑模控制器的基础上，利用非线性函数处理反馈误差，从而达到节能的作用。证明了积分滑模曲面的李雅普诺夫稳定性，并进行了仿真实验。从仿真结果可以看出，非线性反馈积分滑模控制在不影响航向保持精度的前提下，能够降低舵力，但是，船舶的横漂运动和转艏运动会受到影响。在设计非线性反馈积分滑模控制器的同时，分析了非线性反馈算法对船舶各状态的影响，对非线性反馈算法的进一步改进具有一定的参考价值。Abstract: A pilot is made more robust and energy efficient by combination of integral sliding mode control and nonlinear feedback.Lyapunov stability of the integral sliding surface is proved.Simulations are carried out, which shows that the design reduces the rudder force for same course accuracy.However, the integral sliding mode control with nonlinear feedback does effect transvers drift and turning of the ship.The impact of nonlinear feedback to ship motion is analyzed.
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