船舶航向的自适应自调节PID跟踪控制
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摘要
[目的]针对遭受时变环境扰动且存在参数不确定性的船舶航向非线性控制系统,为满足其航向控制的实时性要求,[方法]结合自适应技术,提出不依赖于模型参数与未知输入的自适应自调节的船舶航向跟踪控制方案,并利用Lyapunov直接方法验证该控制律的有界性。[结结果]仿真结果表明,该控制器可以自适应自调节PID的控制增益,不仅继承了传统PID控制器的优点,还对未知时变扰动具有良好的鲁棒性。[结论]研究成果可为船舶航向的跟踪控制设计提供参考。
[Objectives]For the ship-course nonlinear control system subject to time-varying environmental disturbances with parametric uncertainties, to achieve the real-time requirements for course control,[Methods]an adaptive self-regulation PID ship course tracking control scheme not depending on model parameters and unknown input is proposed by using adaptive technique. With Lyapunov direct method to verify the designed control law,it can guarantee all signals in the closed-loop system of course control are bounded.[Results]Simulation results show that the controller can adaptively regulate the gain of PID. It not only inherits the advantages of the traditional PID controller,but also has good robustness to unknown time-varying disturbances.[Conclusions]The study results can provide reference for the course tracking control design of ships.
[Objectives]For the ship-course nonlinear control system subject to time-varying environmental disturbances with parametric uncertainties, to achieve the real-time requirements for course control,[Methods]an adaptive self-regulation PID ship course tracking control scheme not depending on model parameters and unknown input is proposed by using adaptive technique. With Lyapunov direct method to verify the designed control law,it can guarantee all signals in the closed-loop system of course control are bounded.[Results]Simulation results show that the controller can adaptively regulate the gain of PID. It not only inherits the advantages of the traditional PID controller,but also has good robustness to unknown time-varying disturbances.[Conclusions]The study results can provide reference for the course tracking control design of ships.
引文
[1]张显库.船舶运动简捷鲁棒控制[M].北京:科学出版社,2012.Zhang X K.Ship motion concise robust control[M].Beijing:Science Press,2012(in Chinese).
[2]贾欣乐,杨盐生.船舶运动数学模型[M].大连:大连海事大学出版社,1997.Jia X Y,Yang Y S.Mathematical model of ship motion[M].Dalian:Dalian Maritime University Press,1997(in Chinese).
[3]洪碧光.船舶操纵[M].大连:大连海事大学出版社,2010.Hong B G.Ship handling[M].Dalian:Dalian Maritime University Press,2010(in Chinese).
[4]Lin Z L,Ma Y K,Yuan S Z,et al.The path tracking control method based on LOS algorithm for surface self-propelled model[C]//Proceedings of 2017 Chinese Intelligent Systems Conference.Singapore:Springer,2018:473-485.
[5]金月,俞孟蕻,袁伟.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[J].中国舰船研究,2017,12(1):134-139.Jin Y,Yu M H,Yuan W.Application of novel linear active disturbance rejection control in dynamic positioning control system of vessels[J].Chinese Journal of Ship Research,2017,12(1):134-139(in Chinese).
[6]Zhang X J,Liu M Y,Li Y.Sliding mode control and Lyapunov based guidance law with impact time constrains[J].Journal of Systems Engineering and Electronics,2017,28(6):1186-1192.
[7]张显库,杨光平,张强.一种双极性S函数修饰的非线性船舶航向保持算法[J].大连海事大学学报,2016,42(3):15-19.Zhang X K,Yang G P,Zhang Q.A kind of bipolar sigmoid function decorated nonlinear ship course keeping algorithm[J].Journal of Dalian Maritime University,2016,42(3):15-19(in Chinese).
[8]Ghommam J,Ferik E S,Saad M.Robust adaptive path-following control of under actuated marine vessel with off-track error constraint[J].International Journal of Systems Science,2018,49(7):1540-1558.
[9]张显库,张国庆,陈秀嘉.一种非线性反馈反步递推算法的线性弱化[J].控制与决策,2015,30(9):1641-1645.Zhang X K,Zhang G Q,Chen X J.A kind of linear reduction of back-stepping algorithm based on nonlinear feedback[J].Control and Decision,2015,30(9):1641-1645(in Chinese).
[10]Chen X J,Zhang X K.Nonlinear feedback control based on ANFIS[C]//Proceedings of the 12th International Conference on Fuzzy Systems and Knowledge Discovery.Zhangjiajie,China:IEEE,2015:559-563.
[11]Xia G Q,Luan T T.Study of ship heading control using RBF neural network[J].International Journal of Control and Automation,2015,8(10):227-236.150
[12]陈伟强,陈军,张闯,等.船舶航向自适应神经网络鲁棒跟踪控制[J].船舶工程,2016,38(9):15-20.Chen W Q,Chen J,Zhang C,et al.Adaptive neural network robust tracking control for ship course[J].Ship Engineering,2016,38(9):15-20(in Chinese).
[13]卜仁祥,刘正江,李铁山.船舶航向非线性迭代滑模变结构PID控制[J].大连海事大学学报,2006,32(2):9-11,16.Bu R X,Liu Z J,Li T S.Nonlinear iterative sliding mode-PID control and its application to ship autopilot[J].Journal of Dalian Maritime University,2006,32(2):9-11,16(in Chinese).
[14]刘勇,卜仁祥,徐海军,等.船舶航向积分补偿PID控制及参数自适应算法[J].大连海事大学学报,2016,42(3):20-24.Liu Y,Bu R X,Xu H J,et al.Integral compensation PID and parameter adaptive algorithm of ship course control[J].Journal of Dalian Maritime University,2016,42(3):20-24(in Chinese).
[15]曹诗杰,曾凡明,陈于涛.无人水面艇航向航速协同控制方法[J].中国舰船研究,2015,10(6):74-80.Cao S J,Zeng F M,Chen Y T.The course and speed cooperative control method for unmanned surface vehicles[J].Chinese Journal of Ship Research,2015,10(6):74-80(in Chinese).
[16]薛晗,赵强,马峰,等.基于主从交互式萤火虫群优化算法的船舶航向分数阶PID控制[J].计算机测量与控制,2015,23(7):2389-2391,2395.Xue H,Zhao Q,Ma F,et al.A principal and subordinate cooperative firefly algorithm for optimizing fractional-order PID controller in tracking control of ship steering[J].Computer Measurement and Control,2015,23(7):2389-2391,2395(in Chinese).
[17]傅寰宇.模拟退火算法在船舶航向PID控制器参数优化中的研究[J].舰船科学技术,2017,39(2):25-27.Fu H Y.Study of simulated annealing algorithm in parameter optimization of PID controller for ship course[J].Ship Science and Technology,2017,39(2):25-27(in Chinese).
[18]欧阳子路,余文曌,贺宏伟,等.基于改进遗传算法的船舶航向PID控制器[J].中国航海,2017,40(1):13-15,105.Ouyang Z L,Yu W Z,He H W,et al.PID control with improved genetic algorithm for ship steering[J].Navigation of China,2017,40(1):13-15,105(in Chinese).
[19]Song Y D,Guo J X,Huang X C.Smooth neuroadaptive PI tracking control of nonlinear systems with unknown and nonsmooth actuation characteristics[J].IEEE Transactions on Neural Networks and Learning Systems,2017,28(9):2183-2195.
[20]Khalil H K.Universal integral controllers for minimum-phase nonlinear systems[J].IEEE Transactions on Automatic Control,2000,45(3):490-494.
[21]张显库.基于Lyapunov稳定性的船舶航向保持非线性控制[J].西南交通大学学报,2010,45(1):140-143.Zhang X K.Nonlinear control for ship course-keeping based on Lyapunov stability[J].Journal of Southwest Jiaotong University,2010,45(1):140-143(in Chinese).
[22]李俊方,李铁山.考虑输入饱和的直接自适应神经网络跟踪控制[J].应用科学学报,2013,31(3):294-302.Li J F,Li T S.Direct adaptive neural network tracking control with input saturation[J].Journal of Applied Sciences,2013,31(3):294-302(in Chinese).
[23]张显库,金一丞.控制系统建模与数字仿真[M].2版.大连:大连海事大学出版社,2013.Zhang X K,Jin Y C.Control system modeling and digital simulation[M].2nd ed.Dalian:Dalian Maritime University Press,2013(in Chinese).
[24]田佰军,刘正江,郑云峰.考虑暂态/稳态性能的船舶航向保持控制[J].哈尔滨工程大学学报,2016,37(5):640-645.Tian B J,Liu Z J,Zheng Y F.Robust course-keeping control for ships with the prescribed transient/steady performance[J].Journal of Harbin Engineering University,2016,37(5):640-645(in Chinese).151
[2]贾欣乐,杨盐生.船舶运动数学模型[M].大连:大连海事大学出版社,1997.Jia X Y,Yang Y S.Mathematical model of ship motion[M].Dalian:Dalian Maritime University Press,1997(in Chinese).
[3]洪碧光.船舶操纵[M].大连:大连海事大学出版社,2010.Hong B G.Ship handling[M].Dalian:Dalian Maritime University Press,2010(in Chinese).
[4]Lin Z L,Ma Y K,Yuan S Z,et al.The path tracking control method based on LOS algorithm for surface self-propelled model[C]//Proceedings of 2017 Chinese Intelligent Systems Conference.Singapore:Springer,2018:473-485.
[5]金月,俞孟蕻,袁伟.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[J].中国舰船研究,2017,12(1):134-139.Jin Y,Yu M H,Yuan W.Application of novel linear active disturbance rejection control in dynamic positioning control system of vessels[J].Chinese Journal of Ship Research,2017,12(1):134-139(in Chinese).
[6]Zhang X J,Liu M Y,Li Y.Sliding mode control and Lyapunov based guidance law with impact time constrains[J].Journal of Systems Engineering and Electronics,2017,28(6):1186-1192.
[7]张显库,杨光平,张强.一种双极性S函数修饰的非线性船舶航向保持算法[J].大连海事大学学报,2016,42(3):15-19.Zhang X K,Yang G P,Zhang Q.A kind of bipolar sigmoid function decorated nonlinear ship course keeping algorithm[J].Journal of Dalian Maritime University,2016,42(3):15-19(in Chinese).
[8]Ghommam J,Ferik E S,Saad M.Robust adaptive path-following control of under actuated marine vessel with off-track error constraint[J].International Journal of Systems Science,2018,49(7):1540-1558.
[9]张显库,张国庆,陈秀嘉.一种非线性反馈反步递推算法的线性弱化[J].控制与决策,2015,30(9):1641-1645.Zhang X K,Zhang G Q,Chen X J.A kind of linear reduction of back-stepping algorithm based on nonlinear feedback[J].Control and Decision,2015,30(9):1641-1645(in Chinese).
[10]Chen X J,Zhang X K.Nonlinear feedback control based on ANFIS[C]//Proceedings of the 12th International Conference on Fuzzy Systems and Knowledge Discovery.Zhangjiajie,China:IEEE,2015:559-563.
[11]Xia G Q,Luan T T.Study of ship heading control using RBF neural network[J].International Journal of Control and Automation,2015,8(10):227-236.150
[12]陈伟强,陈军,张闯,等.船舶航向自适应神经网络鲁棒跟踪控制[J].船舶工程,2016,38(9):15-20.Chen W Q,Chen J,Zhang C,et al.Adaptive neural network robust tracking control for ship course[J].Ship Engineering,2016,38(9):15-20(in Chinese).
[13]卜仁祥,刘正江,李铁山.船舶航向非线性迭代滑模变结构PID控制[J].大连海事大学学报,2006,32(2):9-11,16.Bu R X,Liu Z J,Li T S.Nonlinear iterative sliding mode-PID control and its application to ship autopilot[J].Journal of Dalian Maritime University,2006,32(2):9-11,16(in Chinese).
[14]刘勇,卜仁祥,徐海军,等.船舶航向积分补偿PID控制及参数自适应算法[J].大连海事大学学报,2016,42(3):20-24.Liu Y,Bu R X,Xu H J,et al.Integral compensation PID and parameter adaptive algorithm of ship course control[J].Journal of Dalian Maritime University,2016,42(3):20-24(in Chinese).
[15]曹诗杰,曾凡明,陈于涛.无人水面艇航向航速协同控制方法[J].中国舰船研究,2015,10(6):74-80.Cao S J,Zeng F M,Chen Y T.The course and speed cooperative control method for unmanned surface vehicles[J].Chinese Journal of Ship Research,2015,10(6):74-80(in Chinese).
[16]薛晗,赵强,马峰,等.基于主从交互式萤火虫群优化算法的船舶航向分数阶PID控制[J].计算机测量与控制,2015,23(7):2389-2391,2395.Xue H,Zhao Q,Ma F,et al.A principal and subordinate cooperative firefly algorithm for optimizing fractional-order PID controller in tracking control of ship steering[J].Computer Measurement and Control,2015,23(7):2389-2391,2395(in Chinese).
[17]傅寰宇.模拟退火算法在船舶航向PID控制器参数优化中的研究[J].舰船科学技术,2017,39(2):25-27.Fu H Y.Study of simulated annealing algorithm in parameter optimization of PID controller for ship course[J].Ship Science and Technology,2017,39(2):25-27(in Chinese).
[18]欧阳子路,余文曌,贺宏伟,等.基于改进遗传算法的船舶航向PID控制器[J].中国航海,2017,40(1):13-15,105.Ouyang Z L,Yu W Z,He H W,et al.PID control with improved genetic algorithm for ship steering[J].Navigation of China,2017,40(1):13-15,105(in Chinese).
[19]Song Y D,Guo J X,Huang X C.Smooth neuroadaptive PI tracking control of nonlinear systems with unknown and nonsmooth actuation characteristics[J].IEEE Transactions on Neural Networks and Learning Systems,2017,28(9):2183-2195.
[20]Khalil H K.Universal integral controllers for minimum-phase nonlinear systems[J].IEEE Transactions on Automatic Control,2000,45(3):490-494.
[21]张显库.基于Lyapunov稳定性的船舶航向保持非线性控制[J].西南交通大学学报,2010,45(1):140-143.Zhang X K.Nonlinear control for ship course-keeping based on Lyapunov stability[J].Journal of Southwest Jiaotong University,2010,45(1):140-143(in Chinese).
[22]李俊方,李铁山.考虑输入饱和的直接自适应神经网络跟踪控制[J].应用科学学报,2013,31(3):294-302.Li J F,Li T S.Direct adaptive neural network tracking control with input saturation[J].Journal of Applied Sciences,2013,31(3):294-302(in Chinese).
[23]张显库,金一丞.控制系统建模与数字仿真[M].2版.大连:大连海事大学出版社,2013.Zhang X K,Jin Y C.Control system modeling and digital simulation[M].2nd ed.Dalian:Dalian Maritime University Press,2013(in Chinese).
[24]田佰军,刘正江,郑云峰.考虑暂态/稳态性能的船舶航向保持控制[J].哈尔滨工程大学学报,2016,37(5):640-645.Tian B J,Liu Z J,Zheng Y F.Robust course-keeping control for ships with the prescribed transient/steady performance[J].Journal of Harbin Engineering University,2016,37(5):640-645(in Chinese).151
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