基于超螺旋滑模的船载稳定平台镇定控制

doi:10.12305/j.issn.1001-506X.2022.05.28

系统工程与电子技术 ›› 2022, Vol. 44 ›› Issue (5): 1662-1669.doi: 10.12305/j.issn.1001-506X.2022.05.28

基于超螺旋滑模的船载稳定平台镇定控制

刘文吉¹, 杜佳璐^1,*, 李健¹, 李诤²

1. 大连海事大学船舶电气工程学院, 辽宁大连 116026
2. 大连海事大学船舶与海洋工程学院, 辽宁大连 116026

收稿日期:2021-05-17 出版日期:2022-05-01 发布日期:2022-05-16
通讯作者: 杜佳璐
作者简介:刘文吉 (1996—), 男, 硕士研究生, 主要研究方向为并联机器人运动控制|杜佳璐 (1966—), 女, 教授, 博士, 主要研究方向为非线性控制理论、自适应鲁棒控制、智能控制、海洋航行器运动控制|李健 (1993—), 男, 博士研究生, 主要研究方向为水下机器人轨迹跟踪及编队控制|李诤 (1982—), 男, 高级工程师, 博士, 主要研究方向为机械动力传动系统虚拟仿真设计及性能优化
基金资助:
国家自然科学基金(51079013);大连市科技创新基金(2020JJ26GX020)

Stabilization control for vessel-borne stabilization platform based on super-twisting sliding mode

Wenji LIU¹, Jialu DU^1,*, Jian LI¹, Zheng LI²

1. School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China
2. School of Naval Architecture and Ocean Engineering, Dalian Maritime University, Dalian 116026, China

Received:2021-05-17 Online:2022-05-01 Published:2022-05-16
Contact: Jialu DU

摘要/Abstract

摘要：

针对存在动态不确定与未知外界扰动的船载稳定平台, 提出基于超螺旋扩张状态观测器(super-twisting extended state observer, STESO)的超螺旋滑模(super-twisting sliding mode, STSM)镇定控制方案。构造STESO, 为平台的动态不确定以及未知外界扰动引起的总扰动提供在线估计, 再依据超螺旋算法设计船载平台STSM镇定控制律, 使得船载平台上支撑面渐近调节于惯性空间中某一期望的位姿不变。仿真及比较结果验证了所设计的船载平台镇定控制律具有较高的鲁棒性、扰动估计精度及镇定控制精度。

关键词: 船载稳定平台, 未知外界扰动, 动态不确定, 镇定, 超螺旋算法

Abstract:

For the stabilization control problem of the vessel-borne platform in the presence of dynamic uncertainties and unknown external disturbances, this paper proposes the super-twisting extended state observer (STESO) based super-twisting sliding mode (STSM) stabilization control strategy. The STESO is constructed to online estimate the total disturbances lumped by the dynamic uncertainties and the unknown external disturbances of the vessel-borne stabilization platform. Based on the above, the STSM stabilization control law of the vessel-borne platform is designed by employing the super-twisting algorithm. The upper support surface of the vessel-borne platform is asymptotically adjusted to the desired position and attitude in the inertial space and is kept to be unchanged. The simulation results with comparisons demonstrate the higher robustness of the designed vessel-borne platform stabilization control law and the higher disturbance estimation and stabilization control accuracy.

Key words: vessel-borne stabilization platform, unknown external disturbances, dynamic uncertainties, stabilization, super-twisting algorithm

中图分类号:

U661.33

刘文吉, 杜佳璐, 李健, 李诤. 基于超螺旋滑模的船载稳定平台镇定控制[J]. 系统工程与电子技术, 2022, 44(5): 1662-1669.

Wenji LIU, Jialu DU, Jian LI, Zheng LI. Stabilization control for vessel-borne stabilization platform based on super-twisting sliding mode[J]. Systems Engineering and Electronics, 2022, 44(5): 1662-1669.

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基于超螺旋滑模的船载稳定平台镇定控制

Stabilization control for vessel-borne stabilization platform based on super-twisting sliding mode

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