本文關(guān)鍵詞： 船舶電力推進(jìn) 吊艙推進(jìn)電機(jī) 矢量控制 無(wú)模型自適應(yīng)控制 擾動(dòng)抑制　出處：《大連海事大學(xué)》2015年博士論文　論文類型：學(xué)位論文

【摘要】：遠(yuǎn)洋運(yùn)輸是高能耗高排放的行業(yè),實(shí)現(xiàn)船舶節(jié)能減排是海運(yùn)業(yè)發(fā)展的重大需求。研究船舶吊艙推進(jìn)系統(tǒng)的相關(guān)控制問題,不僅對(duì)解決推進(jìn)電機(jī)的運(yùn)行、優(yōu)化與管理有重要的指導(dǎo)作用,更對(duì)實(shí)現(xiàn)海運(yùn)業(yè)節(jié)能減排有重要意義。針對(duì)船舶吊艙推進(jìn)控制系統(tǒng)的大慣性、強(qiáng)耦合、模型參數(shù)不確定以及航行中受到的風(fēng)、浪、流等測(cè)量擾動(dòng)及負(fù)載擾動(dòng)的問題,本論文研究了基于無(wú)模型自適應(yīng)矢量控制的船舶吊艙推進(jìn)系統(tǒng)控制策略,具體內(nèi)容如下：針對(duì)常規(guī)船舶吊艙推進(jìn)矢量控制系統(tǒng)中由于不確定性動(dòng)態(tài)而存在的模型攝動(dòng)問題,將無(wú)模型自適應(yīng)控制算法與矢量控制方法相融合,提出一種全新的無(wú)模型自適應(yīng)矢量控制算法,推導(dǎo)出SSP推進(jìn)電機(jī)的動(dòng)態(tài)線性化方程,基于速度跟蹤誤差設(shè)計(jì)了無(wú)模型自適應(yīng)矢量控制器,在線調(diào)整偽偏導(dǎo)數(shù),保證了推進(jìn)電機(jī)控制系統(tǒng)跟蹤誤差一致且有界。并通過(guò)嚴(yán)格的收斂性證明和仿真實(shí)驗(yàn)論證了該方法應(yīng)用于船舶吊艙推進(jìn)控制系統(tǒng)的有效性。針對(duì)無(wú)模型自適應(yīng)矢量控制方法僅利用過(guò)去一步采樣時(shí)刻信息的問題,在高階學(xué)習(xí)律的基礎(chǔ)上提出了一種高階無(wú)模型自適應(yīng)矢量控制算法,通過(guò)設(shè)計(jì)一個(gè)新的控制輸入準(zhǔn)則函數(shù),使得更多船舶航行過(guò)程中的控制信息得到充分利用,從而使得控制器的設(shè)計(jì)更加靈活,通過(guò)嚴(yán)格的數(shù)學(xué)證明,論證了偽偏導(dǎo)數(shù)估計(jì)值的有界性、系統(tǒng)穩(wěn)定收斂性以及控制輸入的有界性,仿真實(shí)驗(yàn)表明所提出方法進(jìn)一步提高了船舶吊艙推進(jìn)控制系統(tǒng)的收斂性能。針對(duì)船舶吊艙推進(jìn)系統(tǒng)由于受到外部海況等未知負(fù)載擾動(dòng),導(dǎo)致控制量的頻繁動(dòng)作等問題,設(shè)計(jì)一種帶死區(qū)擾動(dòng)補(bǔ)償?shù)臒o(wú)模型自適應(yīng)矢量控制器,首先在無(wú)模型自適應(yīng)矢量控制器控制律的更新算法中引入一個(gè)控制死區(qū),并設(shè)計(jì)了基于擴(kuò)張狀態(tài)觀測(cè)器的擾動(dòng)估計(jì)器,最后進(jìn)行了收斂性證明,仿真實(shí)驗(yàn)表明該算法可以抑制未知負(fù)載擾動(dòng)的作用,避免控制量的頻繁動(dòng)作對(duì)SSP推進(jìn)控制系統(tǒng)執(zhí)行機(jī)構(gòu)的齒輪傳動(dòng)部件的較大磨損,提高控制系統(tǒng)的魯棒性能。針對(duì)船舶吊艙推進(jìn)系統(tǒng)的復(fù)雜動(dòng)態(tài)特性及惡劣工作環(huán)境而帶來(lái)的測(cè)量擾動(dòng),進(jìn)行了一些實(shí)際應(yīng)用的推廣,研究了無(wú)模型自適應(yīng)矢量控制的主動(dòng)抗擾能力,提出了一種基于小波分析的無(wú)模型自適應(yīng)矢量控制器,該控制器應(yīng)用小波分析對(duì)輸出信號(hào)進(jìn)行濾波處理,然后將處理后的信號(hào)應(yīng)用于無(wú)模型自適應(yīng)矢量控制算法構(gòu)造控制律,最后理論證明了當(dāng)系統(tǒng)存在有界測(cè)量擾動(dòng)時(shí)改進(jìn)算法的穩(wěn)定性和收斂性,仿真實(shí)驗(yàn)論證了該算法對(duì)于抑制測(cè)量擾動(dòng)的有效性。
[Abstract]:Ocean transportation is an industry with high energy consumption and high emission. It is an important demand for marine transportation industry to realize energy saving and emission reduction. To study the control problems of ship podded propulsion system is not only to solve the operation of propulsion motor. Optimization and management play an important role in guiding the marine transportation industry to achieve energy saving and emission reduction. Aiming at the large inertia, strong coupling, model parameters uncertainty and wind in navigation of the propulsion control system of ship pods. In this paper, the control strategy of ship podded propulsion system based on modelless adaptive vector control is studied. The main contents are as follows: aiming at the model perturbation problem existing in the conventional ship podded propulsion vector control system due to the uncertain dynamics, the model-free adaptive control algorithm is combined with the vector control method. A novel model-free adaptive vector control algorithm is proposed, and the dynamic linearization equation of SSP propulsion motor is derived. The model-free adaptive vector controller is designed based on the velocity tracking error. Adjust the pseudo-partial derivative online. The tracking error of propulsion motor control system is consistent and bounded. The validity of this method applied to ship pods propulsion control system is proved by strict convergence proof and simulation experiment. The method of quantity control only uses the information of sampling time in the past step. On the basis of higher order learning law, an adaptive vector control algorithm with high order modeless is proposed. By designing a new control input criterion function, more and more control information during ship navigation are fully utilized. Through strict mathematical proof, the boundedness of pseudo-partial derivative estimator, the stability convergence of system and the boundedness of control input are proved. The simulation results show that the proposed method can further improve the convergence performance of the ship pods propulsion control system. The ship pods propulsion system is disturbed by unknown loads such as external sea conditions. In this paper, a model-free adaptive vector controller with dead-zone disturbance compensation is designed. Firstly, a dead-time control algorithm is introduced to update the control law of the model-free adaptive vector controller. A disturbance estimator based on the extended state observer is designed. Finally, the convergence is proved. The simulation results show that the proposed algorithm can suppress the unknown load disturbance. Avoid the large wear of the gear transmission parts of the actuators of the SSP propulsion control system by avoiding the frequent movement of the control quantities. Improving the robust performance of the control system. Aiming at the complex dynamic characteristics of the ship podded propulsion system and the measurement disturbance caused by the bad working environment, some practical applications are extended. The active immunity ability of model-free adaptive vector control is studied. A model free adaptive vector controller based on wavelet analysis is proposed. Wavelet analysis is used to filter the output signal. Then the processed signal is applied to the model-free adaptive vector control algorithm to construct the control law. Finally, the stability and convergence of the improved algorithm are proved when the system has bounded measurement disturbance. Simulation results demonstrate the effectiveness of the proposed algorithm in suppressing measurement disturbances.
【學(xué)位授予單位】：大連海事大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2015
【分類號(hào)】：U664.3

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