首页|基于事件触发机制的船舶补给同步抗干扰控制

基于事件触发机制的船舶补给同步抗干扰控制

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[目的]针对多变海洋环境下补给船与被补给船补给作业同步航行控制问题,考虑风浪流引起的海洋环境干扰、船间效应导致的干扰、两船软连接相互作用,提出事件触发下基于干扰估计和补偿的同步抗干扰控制方法.[方法]将补给船受到的干扰建模为一阶马尔科夫过程,描述风浪流引起的海洋环境干扰和未建模动态,将船间效应导致的干扰和两船软连接相互作用等均集中为未建模动态,构造干扰观测器在线估计时变未知有界干扰,在控制设计中利用干扰在线估计值对干扰进行补偿,抵消干扰和不确定性对航行补给控制的影响,设计辅助动态系统来减少推进器控制饱和的影响,引入事件触发机制降低推进器执行频率以避免其过度磨损.[结果]仿真结果表明,本文提出的事件触发机制存在大于 0 的最小采样间隔且不会在有限时间内发生无限次触发.该控制器可实现补给船与被补给船同步航行,保证控制系统所有信号全局一致最终有界.[结论]仿真结果验证了事件触发干扰估计和补偿控制的有效性.
Event-triggered synchronization anti-disturbance control method for ship replenishment
[Objective]This paper investigates the synchronization control problem for supply and supplied ships during underway replenishment in a constantly time-varying ocean environment while considering the ocean environmental disturbances induced by wind,waves and currents,and the interaction effects between ships and their soft connections.It then proposes an event-triggered synchronization anti-disturbance control method based on disturbance estimation and compensation.[Method]The first-order Markov process is used to describe the ocean environmental disturbances induced by waves,wind and currents that affect the sup-ply ship,as well as the unmodeled dynamics.The interaction effects between the ships and their soft connec-tions are included in the unmodeled dynamics.The online disturbance observer estimates time-varying un-known bounded disturbances which are compensated for in the control design using disturbance estimates.The auxiliary dynamic system helps to reduce the control saturation effects on anti-disturbance control.The event-triggered mechanism reduces the execution frequencies of control signals to avoid the excessive wear of the thrusters.[Results]A simulation of a supply ship using the event-triggered control method shows the exist-ence of a minimum sampling interval greater than 0 and the inability to trigger infinitely in a finite time.The controller can achieve synchronous navigation between supply and supplied ships while ensuring the global uniform ultimate boundedness of all closed-loop control signals.[Conclusion]The simulation results valid-ate the effectiveness of the proposed event-triggered disturbance estimation and compensation control method.

synchronization navigationdisturbance estimationvectorial backsteppingauxiliary dynamic systemevent-triggering

胡鑫、巩庆涛、祝贵兵、韩国杰、王媛

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鲁东大学 数学与统计科学学院,山东 烟台 264025

鲁东大学 蔚山船舶与海洋学院,山东 烟台 264025

浙江海洋大学 船舶与海运学院,浙江 舟山 316022

鲁东大学 水利土木学院,山东 烟台 264025

烟台市科技创新促进中心,山东 烟台 264003

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同步航行 扰动估计 矢量反步法 辅助动态系统 事件触发

国家自然科学基金资助项目山东省高等学校优秀青年创新团队项目内河航运技术湖北省重点实验室开放研究基金项目山东省海上航天装备技术创新中心开放课题山东省研究生教育教学改革研究项目山东省重大创新工程项目

622731722021KJ042NHHY2021003MAETIC2021-01SDYJG210452021CXGC010702

2024

10.19693/j.issn.1673-3185.03440

中国舰船研究
中国舰船研究设计中心

中国舰船研究

CSTPCD北大核心
影响因子：0.496
ISSN：1673-3185
年,卷(期)：2024.19(5)