中国舰船研究2025，Vol.20Issue(1)：289-299,11.DOI:10.19693/j.issn.1673-3185.04191
基于改进自适应控制分配的船舶推进器故障容错控制
Fault-tolerant control for ships with thruster faults based on improved adaptive control allocation
摘要
Abstract
[Objective]In the process of marine resource development,some thrusters of over-actuated ships are prone to failures during operation,resulting in a decrease in propulsion power.This paper aims to propose a fault-tolerant control method based on improved adaptive control allocation to enhance the fault tol-erance and the safety reliability of ship operations.[Methods]Firstly,an adaptive control allocation al-gorithm is designed to online reconstruct the configuration matrix of the faulty propulsion system based on the current propulsion capacity,reducing the thrust deviation.Additionally,a differential term is added to the ad-aptive update law to suppress the thrust jitter.Then,the unprocessed control allocation error is regarded as a lumped disturbance,which is estimated and compensated by a modified extended state observer.Finally,the boundedness of the error in the closed-loop control system is proved using Lyapunov theory,ensuring the the-oretical feasibility of the method.[Results]Simulation and modeling experiments are carried out using a self-developed over-actuated ship experimental prototype.In terms of the upper limit of positioning error,the IACA method demonstrates a significantly lower upper limit of positioning error across all directions when compared to the ACA and QPCA methods.Furthermore,regarding system dynamic performance,the IACA method facilitates rapid stabilization of the system to a steady state following thruster failure.In the simula-tion experiments,the abrupt changes in disturbance estimation values,actual force,and thrust deviation associ-ated with the IACA method were minimal post-failure,indicating a rapid recovery.Additionally,the adaptive parameter updates were both faster and more stable,exhibiting minimal jitter,effectively enhancing the sys-tem's performance in terms of jitter reduction.[Conclusion]The results show that the proposed method can effectively handle the failure of over-actuated ship thrusters.Verified by experiments,it can reduce operation errors,help the system quickly return to stability,improve the jitter,enhance the fault tolerance of the ship,provide an effective strategy for the fault-tolerant control of ship thrusters,and is of great significance for the safe and stable operation of the ship.However,further research and optimization are needed in the future.关键词
船舶/操舵装置/容错/可靠性/运动控制/自适应控制系统/推进器故障Key words
ships/ship steering equipment/fault tolerance/reliability/motion control/adaptive control systems/thruster faults分类
交通运输引用本文复制引用
郎祺,徐海祥,余文曌,杜哲,王红梅,陈金龙..基于改进自适应控制分配的船舶推进器故障容错控制[J].中国舰船研究,2025,20(1):289-299,11.基金项目
国家自然科学基金资助项目(52201373) （52201373）
海南省科技计划三亚崖州湾科技城科技创新联合项目(2021CXLH0016) （2021CXLH0016）
国家大学生创新创业训练计划项目(202410497109) （202410497109）
