摘要
介绍了喷水推进操舵控制系统的工作原理,利用系统辨识方法得到某船舶喷水推进器的操舵控制对象的传递函数模型.设计了干扰观测器和全局滑模控制器,并证明了全局滑模态的存在和闭环系统的渐进稳定性.仿真结果表明,观测器对外部干扰具有较高的估计精度,基于全局滑模控制方法的操舵系统兼具良好的跟踪性能和较强的鲁棒性.
Water-jet propulsion is an advanced propulsion technique for high speed ships. The robustness of its steering control system is an essential demand due to various disturbances. In this contribution, the mechanism transfer function model of the water-jet steering propulsion system is established first. Then, model based disturbance observer is designed and a global sliding mode controller is developed. Furthermore, the existence of global sliding mode and the asymptotically stability of the closed-loop system are proved. Simulation results are presented to demonstrate the high precision of the disturbance observer, good tracking performances and strong robustness of the control strategy.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2017年第6期693-697,共5页
Journal of Shanghai Jiaotong University
基金
国家自然科学基金重点项目(61233004)
关键词
喷水推进
操舵控制系统
电液压伺服系统
干扰观测器
全局滑模控制
water-jet propulsion
steering control system
electro hydraulic servo system
disturbance observer
global sliding mode control
作者简介
龚征华（1974-），男，江苏省南京市人，高工，主要研究方向为喷水推进控制技术．
袁景淇（联系人），男，教授，博士生导师，电话（Tel．）：021-34204055；E-mail：jqyuan@sjtu．edu．cn．
