基于PCH模型的船舶动力定位控制器设计

摘要

针对船舶动力定位控制器设计问题,将水面三自由度船舶模型转化为端口受控哈密尔顿(Port-controlled Hamiltonian,PCH)模型,基于无源性理论分析系统的稳定性.并且将积分环节引入控制器的设计中,提高系统抗干扰能力,采用反推法逐步求得总控制力矩.最后对设计的控制器算法进行MATLAB仿真,分别在无外界环境干扰、有外界环境干扰以及是否加入积分环节等条件下进行分析对比,结果显示在有无外界环境干扰下仿真曲线均能在有限时间收敛稳定,加入积分环节后所得曲线更加平滑,起到了抗干扰的作用.仿真结果验证了算法的有效性.%In order to design a proper controller for the ship dynamic positioning system,a three degrees of freedom(DOF) model of marine craft is put into a Port-controlled Hamiltonian(PCH) system form to achieve passivity thus stability of the dynamic positioning control system,with further application of an integral action,guaranteeing the powerful ability of rejection of unknown constant disturbances and getting the total control force by back stepping methods.At the end of this paper,a simulation was carried out with a given experimental vessel model with the help of MATLAB in three conditions:without environmental disturbances,with environmental disturbances and with integral actions.The results show that the simulation curves can converge to stable states in finite times,and with the integral actions the curves are smoother,which verifies the disturbance-rejection effects.The simulation results demonstrate the effectiveness of the algorithm.