新型线性自抗扰控制器在船舶动力定位控制系统中的应用

摘要

针对船舶在海上作业时动力定位控制系统需要精准定位的问题，提出基于改进跟踪微分器的自抗扰控制器，解决线性自抗扰控制器由于省略跟踪微分器而降低系统动态性能的问题。结合线性与非线性跟踪微分器的优点，设计能够较好跟踪微分信号，且能降低噪声对系统影响的改进跟踪微分器，从而构成新型线性自抗扰控制器。仿真实验结果表明，相比于传统的线性自抗扰控制器，基于改进跟踪微分器的LADRC有较强的鲁棒性和自适应性，且超调小、响应快、抗扰能力强。%Aiming at the problem in which a vessel's dynamic positioning system can control it at an expected position,a novel linear active disturbance rejection controller is designed to solve the problem of poor dynamic performance due to the omission of a tracking differentiator. Based on the advantages of linear and nonlinear tracking differentiators,an improved tracking differentiator is designed which can track the differential signal and degrade the effects of noise;it constitutes a novel Linear Active Disturbance Rejection Controller(LADRC). The simulation results show that the novel LADRC based on the improved tracking differentiator has strong robustness,high control accuracy and good dynamic performance compared with the traditional LADRC.