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针对海洋平台动力定位系统,通过构造连续光滑函数并将其用于扩张状态观测器以及引入非奇异终端滑模控制来代替非线性状态误差反馈控制律,设计了一种滑模自抗扰动力定位控制器。连续光滑函数的设计可避免控制器应用过程中的高频颤振现象,非奇异终端滑模控制的引入是为了提高系统的快速响应性与稳定性。仿真试验表明,改进后的滑模自抗扰动力定位控制系统具有较好的控制品质和响应特性,系统的抗扰能力与鲁棒性得到提升,同时其对扰动的估计能力明显增强,提高了海洋平台的定位精度。
Aiming at the dynamic positioning system of offshore platform, a sliding mode auto-impedance dynamic disturbance localization system is designed by constructing a continuous smoothing function and applying it to the extended state observer and introducing non-singular terminal sliding mode control instead of the nonlinear state error feedback control law. Controller. The design of continuous smooth function can avoid the dithering phenomenon in the controller application. The introduction of non-singular terminal sliding mode control is to improve the system’s fast response and stability. The simulation results show that the improved sliding mode ADRC positioning control system has better control quality and response characteristics, and the anti-disturbance capability and robustness of the system are improved. At the same time, its ability to estimate disturbance is significantly enhanced Offshore platform positioning accuracy.