针对欠驱动船舶精准航迹控制需求，考虑基于模型的控制方法建模过程复杂、模型参数不确定及面临的航行环境复杂，存在未知时变外部扰动等问题，提出一种不依赖任何模型信息的欠驱动船舶航迹控制方法——无模型自适应PD控制。首先，基于紧格式动态线性化方法得到船舶等效数据模型，利用系统输入输出数据估计动态线性化模型中的伪偏导数。然后根据等效动态线性化模型设计无模型自适应PD控制器，控制器的设计仅利用系统的输入输出数据，不需要任何模型信息。最后，在相同测试条件下，通过Matlab仿真验证了本文设计的无模型自适应PD控制方法，与传统的无模型控制方法PID控制在船舶航迹控制中的控制性能。
In response to the demand for precise track control of under-actuated ship, considering the complicated modeling process of the model-based control method, the uncertain model parameters, the complicated navigation environment, and the existence of unknown time-varying external disturbances, a method for under-actuated ship track control that does not rely on any model information is proposed——model free adaptive PD control. Firstly, the ship dynamic system is transformed into an equivalent dynamic linearization data model using compact form dynamic linearization, and the I/O data is use to estimate pseudo partial derivative. Then, the control law is designed based on the equivalent dynamic linearization data model. The main feature of the proposed control design is that the controller design only depends on the measured input and output data of the ship, without using any model information. Finally, under the same test conditions, Matlab simulation verified the control performance of the model-free adaptive PD control method designed in this paper and the traditional model-free control method PID control in ship trajectory control.
2022,44(13): 21-25 收稿日期：2021-07-28
DOI：10.3404/j.issn.1672-7649.2022.13.005
分类号：Q231.2
作者简介：李伟(1996-),男,助理工程师,从事船舶运动控制研究
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