中国舰船研究2025，Vol.20Issue(1)：300-308,9.DOI:10.19693/j.issn.1673-3185.04010
基于低-高增益反馈控制和扩张状态观测器的双体船垂向稳定研究
Vertical stabilization of catamaran based on low-high gain feedback control and extended state observer
摘要
Abstract
[Objective]The heave and pitch motions of a catamaran under severe sea states vary drastically,and the amplitudes of the motions are too large,which seriously affects seaworthiness.To address this prob-lem,this paper proposes a form of vertical stabilization control that combines low-high gain feedback control with high order extended state observer(HOESO)feed-forward compensation.[Method]First,the coupled catamaran vertical motion model is approximately decoupled,and the coupling of the heave and pitch motions,wave disturbances,etc.are regarded as lumped disturbances which are extended into three virtual state quantit-ies.HOESO is designed to improve the accuracy of disturbance estimation,and the estimated values are used for feed-forward compensation.Second,a low-high gain feedback controller is proposed to achieve vertical stabilization and reduce the conservatism of the low gain feedback control while ensuring that the attachment inputs of the T-foil and flaps satisfy the constraints.Finally,MATLAB is used to build the vertical stabiliza-tion control system of the catamaran for simulation.[Results]The results show that the proposed control strategy can effectively suppress the amplitudes of the heave and pitch motions and improve the stability of the vertical motion.The heave displacement is reduced by about 49.47%,while the pitch angle is reduced by about 53.83%.[Conclusion]The results of this study have certain practical engineering significance and can provide valuable references for the stabilization control of multihull vessels.关键词
船舶/运动控制/反馈控制/双体船/垂向稳定控制/扩张状态观测器Key words
ships/motion control/feedback control/catamaran/vertical stabilization control/extended state observer分类
交通运输引用本文复制引用
张军,申琦清,任俊杰,刘志林..基于低-高增益反馈控制和扩张状态观测器的双体船垂向稳定研究[J].中国舰船研究,2025,20(1):300-308,9.基金项目
国家自然科学基金(52471320,51379044) （52471320,51379044）
江苏省高校优势学科建设工程(四期)(PAPD-2023) （四期）
