海况变化时的船舶定点定位切换自适应控制研究
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摘要
随着海洋资源的不断开发和发现，目前越来越多的海洋作业向深海延伸，并且要求船舶可以全天候在海洋环境中不间断工作，可见研究全天候海洋环境下的船舶控制策略有着重要的意义。本文以国家高新技术船舶项目“船舶动力定位系统研制”为背景，重点研究海况变化时的船舶定点定位控制方法。
船舶运动过程中普遍存在着不确定的外界扰动，可以说船舶操纵过程是一类典型的不确定非线性系统，尤其当船舶全天候工作在变化范围很大的海洋环境下，系统的不确定性更加突出。由于切换控制在解决非线性、时变和不确定性问题方面存在着优越性，本文为全天候定点定位作业的船舶研究了一种切换自适应控制策略，首先根据海况的有义波高把0~9级海况划分为普通海况、高海况和恶劣海况，然后分别研究了三种海况下切换控制系统对应的控制器、观测器以及估计器，论文的具体工作有：
由于船舶高低频线性叠加数学模型只适合描述普通海况下的船舶运动，为了更精确的描述不同海况下的船舶运动，本文提出使用船舶统一数学模型作为船舶的过程对象模型，并结合该模型建立了6自由度的船舶统一数学模型、海浪载荷模型和风载荷模型，最后在MATLAB/SIMULINK环境下搭建了多海洋环境下的船舶运动仿真平台。
当海况变化时观测器/滤波器的海浪滤波参数也是跟随海况变化的，为了解决观测器参数的自适应调整问题，本文为船舶切换控制系统提出了一种多模型自适应非线性观测器（Multiple ModelAdaptive nonlinear Observer, MMAO），它是由一组海浪滤波参数固定的非线性子观测器构成的。在MMAO子观测器的研究中，针对普通海况研究了一种能够进行高频滤波的具有位置、速度、加速度反馈（position, velocity, acceleration feedback,PVAF）的子观测器，该子观测器利用测量的位置、速度和加速度量去综合估计船舶所需要的低频位置、速度和加速度；针对恶劣海况下观测器很难分离高、低频运动的特点，提出了一种基于统一模型的PVAF子观测器；在高海况下提出了一种可以在普通海况和恶劣海况之间平滑过渡的加权形式的PVAF观测器。在估计器的研究中，为了让估计器能更精确地估计船舶的运动情况，提出使用基于统一模型的非线性无源观测器作为三种海况下的估计器。最后利用计算机仿真验证了所提出的观测器的性能。
由于缓慢变化的环境干扰的存在，船舶控制对象模型中存在着未建模的环境干扰，为了克服这些不确定性因素对控制系统的影响，本文为普通海况下的动力定位船提出了一种非线性自适应反步控制方法；为了在高海况和恶劣海况下提高船舶抵抗环境干扰的能力，提出了一种具有加速度反馈补偿的自适应反步控制方法。最后针对三种海况分别验证了所提出的控制方法的优越性。
针对非线性切换控制系统中滞后切换逻辑存在的切换迟钝问题，本文提出了一种滞后-停留时间切换逻辑，该切换逻辑可以避免因滞后参数选择不当而错失切换到最佳的控制器，并证明了提出的该切换逻辑能够保证切换控制系统的稳定性。最后通过仿真实例验证了该切换逻辑的有效性。
由于研究的船舶切换控制系统包含多个控制器、多个子观测器以及多个估计器，在这些控制部分中存在着许多需要调整的参数，而参数的好坏将直接影响到系统的控制系能，因此本文提出使用混沌粒子群算法对控制器、观测器以及估计器的参数进行寻优。最后利用计算机仿真验证了混沌粒子群算法在参数寻优中的有效性。
最后在持续变化的海况和风、海流环境下对所提出的船舶切换自适应控制系统进行仿真验证，仿真结果表明提出的滞后-停留时间切换逻辑能够根据海况变化及时准确的切换到对应的控制器，且切换动作没有导致切换系统出现不稳定现象；提出的船舶切换自适应控制方法比单自适应控制方法控制精度高，且切换自适应控制方法能够保证船舶在变化海况下可靠稳定的运行。
With the continuous development and discovery of marine resources, more and moremarine operations extend to the deep, and marine vessels are required to conduct continuously(such as drilling), so it is important to study the control problems of ship for all-year marineoperation. This thesis is derived from the National High Technology Ship Research Project ofChina: the research of dynamic positioning systems. The goal of this paper is to demonstratethe setpoint control of dynamic positioning vessels in varying sea conditions.
Uncertainty disturbances widely exist in the process of ship motion, and the shipmaneuvering process is a typical class of uncertain nonlinear systems, especially when theship works in the varying marine environment, the uncertainty of maneuvering process islikely to be significant. Since the switch control has advantages to solve the nonlinear,time-varying, uncertainty problems, this thesis proposed switching adaptive control strategyfor dynamic positioning ships which conduct all-year marine operation. Firstly, according tothe significant wave height,0to9sea conditions are divided into moderate sea conditions,high sea conditions and extreme sea conditions, and then corresponding controller, observerand estimator for three sea conditions are proposed, the specific work:
The linear superposition of Low-frequency and Wave-frequency models can accuratelydescribe the ship motion in clam sea conditions, but the model is not applied to the extremesea conditions. In order to describe the ship motions for different sea states more accurately,this paper uses the unified seakeeping-manoeuvering model as the Control plant model of theship, and established the6DOF unified state-space model, wave load model, wind loadmodel. The models were programmed with MATLAB/SIMNLUNK software, and thesimulation verified the correctness of the models.
Taking varying sea conditions into account, the wave frequency model parameters ofobserver/filter change as the varying sea conditions, a multiple model adaptive nonlinearobserver (MMAO) for ship switching control system is proposed in this thesis, which consistsof a bank of nonlinear sub-observers that are designed based on fixed waves filteringparameters. A sub-observer with position, velocity and acceleration feedback (PVAF) is givenfor multiple model adaptive nonlinear observer in moderate sea conditions, which can separatewave frequency motions and low frequency motions. A PVAF sub-observer is proposed basedon the unified ship model for extreme sea conditions. In high seas, an observer takingweighted form of an observer between moderate seas and extreme seas is designed. In orderto make the estimator model can be closer to the real control plant, three estimators based on unified ship mathematical model are given. And computer simulation illustrates theperformance of the observer.
Considering the ship control plant model exists the unmodeled environment force due toslow-varying environmental disturbances, in order to overcome these uncertainties, Anadaptive backstepping controller of dynamic positioning vessel is given for moderate sea state;in high and extreme seas, an adaptive backstepping controller with acceleration feedback(AFB) to increase the performance of dynmic positioning seystems is proposed. Computersimulation illustrates the performance and robustness of the controller for three seas.
Considering the sluggish switching problem of hysteresis switching logic, a newswitching algorithm composed of scale-independent hysteresis switching logic andstate-dependent dwell-time switching logic is presented in this paper. The proposed switchcontrol guarantees that all signals in the closed loop are bounded. Simulation results confirmthe validity of the proposed approach.
Since the switching control system of ship contains three controllers, a number ofsub-observer and three estimators, there are many parameters of the control system to beadjusted, and these parameters are optimized using the chaotic particle swarm optimization.The simulation results show that the effectiveness of the chaotic particle swarm optimization.
Finally, computer simulation is used to verify the ship switching adaptive control systemin a constantly varying of wave, wind and current load. Simulation results show that theswitching control system has better performance of the dynamic positioning system thansingle adaptive controller; switching system can accurately switch to the best controlleraccording to the varying sea conditions, and the switching process does not destroy thestability of system.
船舶运动过程中普遍存在着不确定的外界扰动，可以说船舶操纵过程是一类典型的不确定非线性系统，尤其当船舶全天候工作在变化范围很大的海洋环境下，系统的不确定性更加突出。由于切换控制在解决非线性、时变和不确定性问题方面存在着优越性，本文为全天候定点定位作业的船舶研究了一种切换自适应控制策略，首先根据海况的有义波高把0~9级海况划分为普通海况、高海况和恶劣海况，然后分别研究了三种海况下切换控制系统对应的控制器、观测器以及估计器，论文的具体工作有：
由于船舶高低频线性叠加数学模型只适合描述普通海况下的船舶运动，为了更精确的描述不同海况下的船舶运动，本文提出使用船舶统一数学模型作为船舶的过程对象模型，并结合该模型建立了6自由度的船舶统一数学模型、海浪载荷模型和风载荷模型，最后在MATLAB/SIMULINK环境下搭建了多海洋环境下的船舶运动仿真平台。
当海况变化时观测器/滤波器的海浪滤波参数也是跟随海况变化的，为了解决观测器参数的自适应调整问题，本文为船舶切换控制系统提出了一种多模型自适应非线性观测器（Multiple ModelAdaptive nonlinear Observer, MMAO），它是由一组海浪滤波参数固定的非线性子观测器构成的。在MMAO子观测器的研究中，针对普通海况研究了一种能够进行高频滤波的具有位置、速度、加速度反馈（position, velocity, acceleration feedback,PVAF）的子观测器，该子观测器利用测量的位置、速度和加速度量去综合估计船舶所需要的低频位置、速度和加速度；针对恶劣海况下观测器很难分离高、低频运动的特点，提出了一种基于统一模型的PVAF子观测器；在高海况下提出了一种可以在普通海况和恶劣海况之间平滑过渡的加权形式的PVAF观测器。在估计器的研究中，为了让估计器能更精确地估计船舶的运动情况，提出使用基于统一模型的非线性无源观测器作为三种海况下的估计器。最后利用计算机仿真验证了所提出的观测器的性能。
由于缓慢变化的环境干扰的存在，船舶控制对象模型中存在着未建模的环境干扰，为了克服这些不确定性因素对控制系统的影响，本文为普通海况下的动力定位船提出了一种非线性自适应反步控制方法；为了在高海况和恶劣海况下提高船舶抵抗环境干扰的能力，提出了一种具有加速度反馈补偿的自适应反步控制方法。最后针对三种海况分别验证了所提出的控制方法的优越性。
针对非线性切换控制系统中滞后切换逻辑存在的切换迟钝问题，本文提出了一种滞后-停留时间切换逻辑，该切换逻辑可以避免因滞后参数选择不当而错失切换到最佳的控制器，并证明了提出的该切换逻辑能够保证切换控制系统的稳定性。最后通过仿真实例验证了该切换逻辑的有效性。
由于研究的船舶切换控制系统包含多个控制器、多个子观测器以及多个估计器，在这些控制部分中存在着许多需要调整的参数，而参数的好坏将直接影响到系统的控制系能，因此本文提出使用混沌粒子群算法对控制器、观测器以及估计器的参数进行寻优。最后利用计算机仿真验证了混沌粒子群算法在参数寻优中的有效性。
最后在持续变化的海况和风、海流环境下对所提出的船舶切换自适应控制系统进行仿真验证，仿真结果表明提出的滞后-停留时间切换逻辑能够根据海况变化及时准确的切换到对应的控制器，且切换动作没有导致切换系统出现不稳定现象；提出的船舶切换自适应控制方法比单自适应控制方法控制精度高，且切换自适应控制方法能够保证船舶在变化海况下可靠稳定的运行。
With the continuous development and discovery of marine resources, more and moremarine operations extend to the deep, and marine vessels are required to conduct continuously(such as drilling), so it is important to study the control problems of ship for all-year marineoperation. This thesis is derived from the National High Technology Ship Research Project ofChina: the research of dynamic positioning systems. The goal of this paper is to demonstratethe setpoint control of dynamic positioning vessels in varying sea conditions.
Uncertainty disturbances widely exist in the process of ship motion, and the shipmaneuvering process is a typical class of uncertain nonlinear systems, especially when theship works in the varying marine environment, the uncertainty of maneuvering process islikely to be significant. Since the switch control has advantages to solve the nonlinear,time-varying, uncertainty problems, this thesis proposed switching adaptive control strategyfor dynamic positioning ships which conduct all-year marine operation. Firstly, according tothe significant wave height,0to9sea conditions are divided into moderate sea conditions,high sea conditions and extreme sea conditions, and then corresponding controller, observerand estimator for three sea conditions are proposed, the specific work:
The linear superposition of Low-frequency and Wave-frequency models can accuratelydescribe the ship motion in clam sea conditions, but the model is not applied to the extremesea conditions. In order to describe the ship motions for different sea states more accurately,this paper uses the unified seakeeping-manoeuvering model as the Control plant model of theship, and established the6DOF unified state-space model, wave load model, wind loadmodel. The models were programmed with MATLAB/SIMNLUNK software, and thesimulation verified the correctness of the models.
Taking varying sea conditions into account, the wave frequency model parameters ofobserver/filter change as the varying sea conditions, a multiple model adaptive nonlinearobserver (MMAO) for ship switching control system is proposed in this thesis, which consistsof a bank of nonlinear sub-observers that are designed based on fixed waves filteringparameters. A sub-observer with position, velocity and acceleration feedback (PVAF) is givenfor multiple model adaptive nonlinear observer in moderate sea conditions, which can separatewave frequency motions and low frequency motions. A PVAF sub-observer is proposed basedon the unified ship model for extreme sea conditions. In high seas, an observer takingweighted form of an observer between moderate seas and extreme seas is designed. In orderto make the estimator model can be closer to the real control plant, three estimators based on unified ship mathematical model are given. And computer simulation illustrates theperformance of the observer.
Considering the ship control plant model exists the unmodeled environment force due toslow-varying environmental disturbances, in order to overcome these uncertainties, Anadaptive backstepping controller of dynamic positioning vessel is given for moderate sea state;in high and extreme seas, an adaptive backstepping controller with acceleration feedback(AFB) to increase the performance of dynmic positioning seystems is proposed. Computersimulation illustrates the performance and robustness of the controller for three seas.
Considering the sluggish switching problem of hysteresis switching logic, a newswitching algorithm composed of scale-independent hysteresis switching logic andstate-dependent dwell-time switching logic is presented in this paper. The proposed switchcontrol guarantees that all signals in the closed loop are bounded. Simulation results confirmthe validity of the proposed approach.
Since the switching control system of ship contains three controllers, a number ofsub-observer and three estimators, there are many parameters of the control system to beadjusted, and these parameters are optimized using the chaotic particle swarm optimization.The simulation results show that the effectiveness of the chaotic particle swarm optimization.
Finally, computer simulation is used to verify the ship switching adaptive control systemin a constantly varying of wave, wind and current load. Simulation results show that theswitching control system has better performance of the dynamic positioning system thansingle adaptive controller; switching system can accurately switch to the best controlleraccording to the varying sea conditions, and the switching process does not destroy thestability of system.
引文
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