| 基于自适应反步法的干扰补偿挖泥船动力定位控制 |
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| 引用本文： | 张宇华,姜建国,郜登科.基于自适应反步法的干扰补偿挖泥船动力定位控制[J].东南大学学报,2011,27(1):36-39. |
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| 作者姓名： | 张宇华 姜建国 郜登科 |
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| 作者单位： | 张宇华,Zhang Yuhua(上海交通大学电力传输与功率变换控制教育部重点实验室,上海,200240;河南理工大学电气工程与自动化学院,焦作,454100);姜建国,郜登科,Jiang Jianguo,Gao Dengke(上海交通大学电力传输与功率变换控制教育部重点实验室,上海,200240) |
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| 基金项目： | The National Basic Research Program of China (973 Program) (No. 2005CB221505); Open Fund of Provincial Open Laboratory for Control Engineering Key Disciplines (No. KG2009-02) |
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| 摘 要： | 为解决挖泥船在挖泥强反作用干扰或恶劣环境干扰下,动力定位控制系统不稳定的难题,提出采用自适应反步法来解决挖泥船的动力定位问题.由于自适应算法采用实时估计干扰值并进行前馈补偿,而不是在挖泥机构上额外加装传感器的方法,从而简化了控制机构并同时保证了控制的效果.自适应控制能前馈补偿反作用干扰及环境干扰对船体的作用,使船体能以...
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| 关 键 词： | 动力定位 自适应反步 非线性控制 挖泥船 干扰补偿 |
Novel disturbance compensating dynamic positioning of dredgers based on adaptive backstepping |
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| Zhang Yuhua, Jiang Jianguo Gao Dengke.Novel disturbance compensating dynamic positioning of dredgers based on adaptive backstepping[J].Journal of Southeast University(English Edition),2011,27(1):36-39. |
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| Authors: | Zhang Yuhua Jiang Jianguo Gao Dengke |
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| Institution: | Zhang Yuhua1,2 Jiang Jianguo1 Gao Dengke1(1Key Laboratory of Control of Power Transmission and Transformation of Ministry of Education,Shanghai Jiao Tong University,Shanghai 200240,China)(2School of Electrical Engineering and Automation,Henan Polytechnic University,Jiaozuo 454000,China) |
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| Abstract: | In order to deal with the dynamic positioning system control problems of dredgers working under strong dredging reaction or harsh environments,an adaptive backstepping method is proposed.Disturbances are estimated and compensated for by the adaptive method without extra sensors on dredging equipment,and the control mechanism is simplified.Adaptive control is used to compensate for the reaction and environmental disturbances on the dredger,so the dredger can maintain the desired position with a minimum error... |
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| Keywords: | dynamic positioning(DP) adaptive backstepping nonlinear control dredger disturbance compensating |
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