基于ADRC的船舶航向控制器设计与仿真研究

山东大学学报(工学版) ›› 2009, Vol. 39 ›› Issue (1): 57-62.doi:

基于ADRC的船舶航向控制器设计与仿真研究

周风余,单金明,王伟,陈景帅,阮久宏

山东大学控制科学与工程学院, 山东济南 250061

收稿日期:2008-10-10 修回日期:1900-01-01 出版日期:2009-02-16 发布日期:2009-02-16
通讯作者: 周风余

ZHOU Fengyu, SHAN Jinming, WANG Wei, CHEN Jingshuai, RAN Jiuhong

School of Control Science and Engineering, Shandong University, Jinan 250061, China

Received:2008-10-10 Revised:1900-01-01 Online:2009-02-16 Published:2009-02-16
Contact: ZHOU Fengyu

摘要/Abstract

摘要：

摘要：船舶航向运动系统具有典型的非线性和不确定性,并受到自动舵执行能力的约束以及风、浪、流等的干扰,使得航向控制器的设计非常困难.针对以上问题给出了带有舵机约束的船舶运动非线性数学模型以及海浪扰动数学模型,对ADRC的原理进行了简要介绍，设计出了船舶航向ADRC控制器.仿真结果表明该控制器对于船舶航向运动的非线性、参数不确定性、环境不确定性以及控制对象的模型变化均有较强的鲁棒性，航向切换控制过程快速、平滑,操舵量小,可以实现高精度的航向保持控制.

关键词: 关键词:船舶非线性系统模型;航向控制器;ADRC

Abstract:

Abstract: Because of strong nonlinearity and uncertainty, the dynamics restraints of autopilots, as well as the

effects of wave disturbances, designing a high performance ship course controller is always difficult work. Design of the ship

course active disturbance rejection controller(ADRC) based on the nonlinear mathematical model of ship course locomotion with

autopilot restrictions and the model of wave disturbances were presented. The simulation results of ship course tracking and

keeping showed that the controller has good adaptabilities on system nonlinearity and strong robustness to parameter

perturbations of the ship and environmental disturbances. The course switching is fast and smooth with small rudder turning

volume, and thus achieved highaccurate ship course control.

Key words: Key words: ship nonlinear model; course tracking controler; active disturbance rejection controller(ADRC)

中图分类号:

TP273

周风余,单金明,王伟,陈景帅,阮久宏. 基于ADRC的船舶航向控制器设计与仿真研究[J]. 山东大学学报(工学版), 2009, 39(1): 57-62.

ZHOU Fengyu, SHAN Jinming, WANG Wei, CHEN Jingshuai, RAN Jiuhong. [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(1): 57-62.

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