通过引入动态面控制思想对扩张状态观测器及非线性状态误差反馈控制律进行改造，设计一种动态面自抗扰控制器，并将其用于海洋平台动力定位系统的控制问题上。动态面扩张状态观测器的设计是为了提高系统的扰动估计能力，动态面非线性状态误差反馈控制律的设计是为了提高系统的稳定性与控制效率。仿真实验表明，改进后的动态面自抗扰动力定位控制系统对扰动的估计能力明显提升，系统的抗扰能力与鲁棒性得到增强，同时其具有较好的控制品质和响应特性，进而提高了海洋平台的定位精度。
By introducing the dynamic surface control to reform the extended state observer and the non-linear state error feedback control law, a dynamic surface active-disturbance rejection controller is designed for dynamic positioning systems of offshore platforms. The dynamic surface extended-state observer is designed to strengthen the estimation ability to the disturbance of systems, while the dynamic surface non-linear state error feedback control law is designed to improve the stability and control efficiency of systems. Simulation results illustrate that the improved dynamic surface active-disturbance rejection-based dynamic positioning control systems can significantly improve the estimation ability to the disturbance, the robustness of the systems is improved greatly, and the systems can provide better control quality and faster response to achieve the enhancement of positioning accuracy of offshore platforms.
2017,39(10): 70-74,83 收稿日期：2016-06-29
DOI：10.3404/j.issn.1672-7649.2017.10.013
分类号：U664.8
基金项目：国家自然科学基金资助项目（61374063，61403170）；江苏省“333工程”科研资助项目（BRA2015358）；江苏省“六大人才高峰”资助项目（DZXX-025）
作者简介：和红磊(1991-),男,硕士研究生,研究方向为海洋平台动力定位、自抗扰控制等
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