| 结合速度和干扰观测的船舶路径跟踪模型预测控制 |
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| 引用本文： | 李宗宣,卜仁祥,范艺.结合速度和干扰观测的船舶路径跟踪模型预测控制[J].上海海事大学学报,2021,42(1):19-25. |
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| 作者姓名： | 李宗宣 卜仁祥 范艺 |
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| 作者单位： | 大连海事大学航海学院,大连海事大学航海学院,大连海事大学航海学院 |
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| 基金项目： | 国家自然科学基金(51939001,61976033,51379026)；辽宁省自然科学基金(20170540089) |
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| 摘 要： | 针对船舶路径跟踪控制中的舵角需优化﹑舵幅和舵速受约束等问题,提出模型预测控制(model predictive control,MPC)算法。为处理系统高阶状态值不易测量以及环境干扰问题,设计高阶非线性观测器,同时对船速和包含模型不确定项和外界干扰的总未知项进行估计。以引入舵机响应系统的MMG模型作为预测模型,不仅能提高预测精度,而且更符合船舶运动控制的实际情况。仿真结果表明,所设计的控制器在风浪流时变干扰下仍能跟踪参考路径,舵角幅值小且其变化是光滑的,速度值和总未知项也均能被准确地逼近,验证了所提算法的有效性。
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| 关 键 词： | 船舶运动控制 模型预测控制(MPC) 路径跟踪 非线性观测器 |
| 收稿时间： | 2020/3/19 0:00:00 |
| 修稿时间： | 2020/5/7 0:00:00 |
Model predictive control of ship path following combined with velocity and disturbance observers |
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| LI Zongxuan,BU Renxiang,FAN Yi.Model predictive control of ship path following combined with velocity and disturbance observers[J].Journal of Shanghai Maritime University,2021,42(1):19-25. |
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| Authors: | LI Zongxuan BU Renxiang FAN Yi |
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| Institution: | Dalian Maritime University |
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| Abstract: | To solve the rudder angel optimization requirement, rudder amplitude constraint and rudder rate constraint in the ship path following control, a model predictive control (MPC) algorithm is proposed. To deal with the problem of high order state values of the system being not easy to measure and environmental disturbance, a high order nonlinear observer is designed to estimate the ship velocity and the total unknown terms including model uncertainties and external disturbance. The MMG model with the rudder response system is used as the predictive model, which not only can improve the prediction accuracy, but also accords with the actual situation of ship motion control. The simulation results show that: the designed controller can follow the desired path under the time varying disturbance of wind, wave and current; the rudder angle amplitude is small and its variation is smooth, and the velocity value and the total unknown terms can be accurately approximated, which verifies the effectiveness of the proposed algorithm. |
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| Keywords: | ship motion control model predictive control (MPC) path following nonlinear observer |
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