新能源船舶运动路径控制属于欠驱动控制，传统PID控制动态性能较差，无法适应新能源船舶运动中遇到的扰动问题。本文在对新能源船舶进行运动分析的基础上，提出一种新能源船舶路径跟踪自抗扰控制器的设计方案，该路径跟踪自抗扰控制器包括舵角自抗扰控制器、扩张状态观测器和跟踪微分器等，对舵角自抗扰控制器、扩张状态观测器和跟踪微分器进行了详细设计，使用Matlab对新能源船舶自抗扰控制进行了仿真，得到了轨迹跟踪、首向角变化以及速度变化的仿真结果。仿真结果表明，设计的控制器能够对设定轨迹进行跟随，具有较好的稳定性。
The motion path control of new energy ships is under-drive control, and the traditional PID control has poor dynamic performance, which cannot adapt to the disturbance problems encountered in the movement of new energy ships. On the basis of the motion analysis of new energy ships, this paper proposes a design scheme of path tracking ADR rejection controller for new energy ships, which includes rudder angle ADR controller, expansion state observer and tracking differentiator, etc., and the rudder angle ADR controller, expansion state observer and tracking differentiator are designed in detail, and the ADR control of new energy ships is simulated by Matlab, and the simulation results of trajectory tracking, heading angle change and speed change are obtained. The simulation results show that the designed controller can follow the set trajectory and has good stability.
2024,46(2): 161-164 收稿日期：2023-06-28
DOI：10.3404/j.issn.1672-7649.2024.02.028
分类号：U667.65
作者简介：彭毓卿(2003-),男,研究方向为自动化
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