南方科技大学知识苑(SUSTech KC): 船舶循迹问题的水动力计算和自动控制方法

题名	船舶循迹问题的水动力计算和自动控制方法
姓名	丁伟男
姓名拼音	DING Weinan
学号	11930323
学位类型	硕士
学位专业	0801 力学
学科门类/专业学位类别	08 工学
导师	安松
导师单位	前沿与交叉科学研究院
论文答辩日期	2022-05-09
论文提交日期	2022-06-14
学位授予单位	南方科技大学
学位授予地点	深圳
摘要	随着海上运输业的发展，水面船舶作为海上运输业主要交通工具之一，对其自动控制的研究极为重要。动力定位系统作为水面船舶自动控制的关键环节，分为位置参考/传感器系统、观测器系统、制导系统和控制器系统四大模块，分别对应位置、速度、风、浪和流的数据采集，状态重构和数据融合，路径和轨迹规划，所需推力和力矩的计算，所以动力定位系统的研究对船舶的自动控制是富有意义的。配备动力定位系统的船舶常用 PID 控制器与拓展卡尔曼滤波器耦合的方法，但是面对航速变化引起的模型参数不准确，其控制精度不够理想。所以在模型参数不准确的情况时，需要寻求新的控制策略优化控制精度。本文研究内容主要涉及动力定位系统中的制导模块、控制器模块和观测器模块，制导模块采用的方法是加速度为修正梯形的规划方法，保证船舶在设定的起始点和终点的速度均为零；观测器模块采用基于模型与控制器耦合的三阶滑模观测器，优化了由于滑模控制器导致输入不连续的现象；控制器模块采用鲁棒性好的超螺旋滑模控制算法，解决了在模型参数未知情况下，控制精度不足的问题。本文使用 Matlab 和 Simulink 对船舶运动模拟器、观测器模块、制导模块与控制器模块进行整合，完成整个仿真系统的搭建，并通过仿真结果证明该算法在不同海况下拥有良好的控制精度，其不足之处在于控制参数固定，无法根据扰动变化实时更新控制参数。
其他摘要	With the development of the marine transportation industry, the research on the automatic control of surface ships, which is one of the main means of transportation in the marine transportation industry, is of extreme importance. As the key link of automatic control of surface ships, dynamic positioning system is divided into four modules: position reference/sensor system, observer system, guidance system and controller system, corresponding to data acquisition of position, speed, wind, wave and current’s state reconstruction, data fusion, path and trajectory planning, and calculation of required thrust and moment, respectively. Therefore, the research of dynamic positioning system is meaningful for the automatic control of ships. Ships equipped with dynamic positioning systems often use the method that couples PID controller and extended Kalman filter. But the control accuracy is not ideal owing to inaccurate model parameters caused by changes in speed. Therefore, when the model parameters are inaccurate, it is necessary to seek a new control strategy to optimize the control accuracy. The research content of this paper mainly involves the guidance module, controller module and observer module in the dynamic positioning system. The guidance module adopts the planning method with the acceleration of the modified trapezoid to ensure that the speed of the ship at the set starting point and end point is zero; The observer module adopts a third-order sliding mode observer coupling of model and controller to optimize the input discontinuity caused by sliding mode controller; The controller module adopts the super twisting sliding mode control algorithm with good robustness to solve the problem of insufficient control accuracy when the model parameters are unknown. In this paper, MATLAB and Simulink are used to integrate the ship motion simulator, observer module, guidance module and controller module to complete the construction of the whole simulation system. The simulation results show that the algorithm has good control accuracy under different sea conditions. Its deficiency is that the control parameters are fixed and can not update the control parameters in real time according to the disturbance changes.
关键词	状态观测超螺旋滑模控制船舶制导修正梯形鲁棒性
其他关键词	State Observation Super Twisting Sliding Mode Control Ship Guidance Corrected Trapezoid Robustness
语种	中文
培养类别	独立培养
入学年份	2019
学位授予年份	2022-06
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所在学位评定分委会	力学与航空航天工程系
国内图书分类号	U664.82
来源库	人工提交
成果类型	学位论文
条目标识符	http://sustech.caswiz.com/handle/2SGJ60CL/335757
专题	工学院_海洋科学与工程系
推荐引用方式 GB/T 7714	丁伟男. 船舶循迹问题的水动力计算和自动控制方法[D]. 深圳. 南方科技大学,2022.

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