【摘要】：隨著欠驅(qū)動(dòng)系統(tǒng)的發(fā)展,欠驅(qū)動(dòng)水面船舶作為一類典型的欠驅(qū)動(dòng)系統(tǒng)具有重要的研究意義和實(shí)用價(jià)值.本文主要針對(duì)含有不確定參數(shù)和外界環(huán)境干擾的欠驅(qū)動(dòng)水面船的跟蹤控制問(wèn)題進(jìn)行研究,主要工作如下:1.引入含有不確定參數(shù)和外界環(huán)境干擾的三自由度欠驅(qū)動(dòng)水面船舶的運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)模型.2.針對(duì)含有不確定參數(shù)的欠驅(qū)動(dòng)水面船舶,研究其自適應(yīng)鎮(zhèn)定和路徑跟蹤一體化控制問(wèn)題.基于Lyapunov’s直接法、Backstepping技術(shù)和魯棒自適應(yīng)投影算法,設(shè)計(jì)一個(gè)能同時(shí)實(shí)現(xiàn)欠驅(qū)動(dòng)船路徑跟蹤與鎮(zhèn)定的一體化控制器.在一定的假設(shè)條件下,通過(guò)穩(wěn)定性分析證明了本章所設(shè)計(jì)的自適應(yīng)控制器能夠同時(shí)實(shí)現(xiàn)閉環(huán)系統(tǒng)的鎮(zhèn)定和路徑跟蹤控制.最后,通過(guò)仿真驗(yàn)證了所提自適應(yīng)鎮(zhèn)定和路徑跟蹤一體化控制算法的有效性和魯棒性.3.針對(duì)外部動(dòng)態(tài)干擾的三自由度欠驅(qū)動(dòng)水面船舶系統(tǒng),利用弗萊納坐標(biāo)和非線性狀態(tài)變換,將其轉(zhuǎn)化為單輸入非線性鏈?zhǔn)较到y(tǒng).通過(guò)引入干擾觀測(cè)器來(lái)補(bǔ)償外部干擾的影響,然后將干擾觀測(cè)器和反饋環(huán)相結(jié)合,設(shè)計(jì)復(fù)合廣義預(yù)測(cè)抗干擾控制器,保證了欠驅(qū)動(dòng)水面船能夠全局漸近跟蹤所給定的參考路徑.仿真結(jié)果表明了所提抗干擾控制策略的有效性.
[Abstract]:With the development of underactuated system, underactuated surface ship as a typical underactuated system has important research significance and practical value. In this paper, the tracking control problem of underactuated surface ship with uncertain parameters and external environmental disturbance is studied. The main work is as follows: 1. The kinematics and dynamics model of a three-degree-of-freedom underactuated surface ship with uncertain parameters and external environment disturbance is introduced. The problem of adaptive stabilization and path tracking integrated control for underactuated surface ships with uncertain parameters is studied. Based on Lyapunov's direct backstepping technique and robust adaptive projection algorithm, an integrated controller is designed to track and stabilize underactuated ship paths at the same time. Under certain assumptions, it is proved by the stability analysis that the adaptive controller designed in this chapter can realize the stabilization and path tracking control of the closed-loop system at the same time. Finally, the effectiveness and robustness of the proposed adaptive stabilization and path tracking integrated control algorithm are verified by simulation. For the ship system with three degrees of freedom underactuated by external dynamic disturbance, the system is transformed into a single input nonlinear chain system by using Fliner coordinates and nonlinear state transformation. The disturbance observer is introduced to compensate for the influence of external disturbance. Then the disturbance observer and feedback loop are combined to design a composite generalized predictive anti-jamming controller to ensure that the underactuated surface ship can globally asymptotically track the given reference path. Simulation results show the effectiveness of the proposed anti-jamming control strategy.
【學(xué)位授予單位】：曲阜師范大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：U664.82;TP273

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