自动化与信息工程2011，Vol.32Issue(5)：1-4,4.
动力定位船舶纵向运动的反步法控制器设计
Backstepping Controller Design for Dynamic Positioning Ship of Vertical Motion
摘要
Abstract
This paper discusses the control strategy of dynamic positioning system. For the nonlinear characteristics of dynamic positioning system model, the paper takes constant interference of ship and its uncertainty caused by external disturbances such as the wind, waves and current into account. Based on the stationary disturbance with unknown three degrees of freedom nonlinear ship motion mathematical surface model, we apply adaptive backstepping control law for the nonlinear dynamic positioning. The selection of Lyapunov function and the controller design are combined with regression. The control strategy and mathematical model are proved to be effective with the MATLAB simulation. The design example is a 2800mm×762mm×498mm ship model with 26：1 ratio.关键词
动力定位/非线性/反步法/船舶纵向运动Key words
Dynamic Positioning/Nonlinear/Backstepping/Ship Vertical Motion分类
信息技术与安全科学引用本文复制引用
张晓兰,王钦若,时丽丽..动力定位船舶纵向运动的反步法控制器设计[J].自动化与信息工程,2011,32(5):1-4,4.基金项目
广东省重大科技专项(2009A080202006) （2009A080202006）
广东省自然科学基金资助项目(9151009001000021) （9151009001000021）
广东省教育部产学研合作专项资金资助项目(2009B090300341) （2009B090300341）
