| 摘要: |
| 针对半潜式海洋平台动力定位系统,通过构造等效输出注入滑模观测器(SMO)以及引入终端滑模控制(TSMC)原理,提出一种输出反馈终端滑模控制方法,运用Lyapunov方法进行稳定性证明。结果表明:SMO方法解决了对船舶速度的估计和来自缓慢变化环境负载的偏差,能过滤掉高频率运动,以避免执行机构的磨损和过度的燃料消耗;设计的输出反馈终端滑模控制算法可保证系统状态在有限时间内稳定到平衡点附近,实现系统的闭环稳定,同时具有很强的鲁棒性。通过仿真结果验证了所设计观测器和控制器的有效性,能够实现复杂干扰下海洋平台的有限时间动力定位和轨迹追踪控制。 |
| 关键词: 半潜式海洋平台 动力定位系统 滑模观测器 终端滑模控制 输出反馈 |
| DOI：10.3969/j.issn.1673-5005.2019.01.014 |
| 分类号::TP 273 |
| 文献标识码:A |
| 基金项目:国家自然科学基金项目(61473312) |
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| Semi-submersible marine platform dynamic positioning system output feedback terminal sliding mode control |
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ZHAO Dongya, GAO Shouli, LIANG Hao, ZHAO Tong
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(College of Chemical Engineering in China University of Petroleum(East China), Qingdao 266580, China)
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| Abstract: |
| An output feedback terminal sliding mode control method was proposed for the dynamic positioning system of semi-submersible offshore platform by constructing the equivalent output injection sliding mode observer (SMO), and introducing the terminal sliding mode control (TSMC).The system stability was proved by the Lyapunov method. The result shows that, the SMO method can provide estimation of the ship speed and the bias from slowly varying environmental loads, and can filter out high frequency motions to avoid actuator wear and excessive fuel consumption. The feedback terminal sliding mode control algorithm will ensure that the system states be stable near the equilibrium point within a finite period, which realizes the system closed-loop stability and has strong robustness. The simulation results verify the effectiveness of the proposed method. It can realize the finite time dynamic positioning and trajectory tracking control of the semi-submersible offshore platform under complex disturbance. |
| Key words: semi-submersible offshore platform dynamic positioning system sliding mode observer terminal sliding mode control output feedback |
