方琼林. 基于分数阶自适应滑模的船舶非线性减摇控制[J]. 中国舰船研究, 2021, 16(4): 132–139. doi: 10.19693/j.issn.1673-3185.02069
引用本文: 方琼林. 基于分数阶自适应滑模的船舶非线性减摇控制[J]. 中国舰船研究, 2021, 16(4): 132–139. doi: 10.19693/j.issn.1673-3185.02069
FANG Q L. Fractional order adaptive sliding mode control for nonlinear anti-roll of ship[J]. Chinese Journal of Ship Research, 2021, 16(4): 132–139. doi: 10.19693/j.issn.1673-3185.02069
Citation: FANG Q L. Fractional order adaptive sliding mode control for nonlinear anti-roll of ship[J]. Chinese Journal of Ship Research, 2021, 16(4): 132–139. doi: 10.19693/j.issn.1673-3185.02069

基于分数阶自适应滑模的船舶非线性减摇控制

Fractional order adaptive sliding mode control for nonlinear anti-roll of ship

  • 摘要:
      目的  为了解决船舶非线性横摇的控制问题,提出一种分数阶自适应滑模控制(FOASMC)算法。
      方法  运用长峰波随机海浪模型,计算随机海浪谱密度、波倾角谱密度和作用于船舶的海浪谱; 基于Lyapunov稳定性理论证明系统横摇角跟踪误差; 设计切换函数,使系统对不确定性和外部干扰具有较强的鲁棒性;分析分数阶、控制律增益、滑模面增益等参数的影响。
      结果  结果表明:对于各种船速、遭遇浪向等,FOASMC得到的横摇角均值和标准差比基本滑模控制(SMC)方法的值更小。例如,当船速为10 m/s,遭遇浪向角为5°时,横摇角均值是基本SMC的25.89%,均方差是基本SMC的14.32%。
      结论  所提FOASMC算法对不同船速、遭遇浪向等情况下的减摇控制效果良好,鲁棒性较强,控制输入连续,不存在过高增益。

     

    Abstract:
      Objectives  In order to solve the problem of ship nonlinear rolling control, a fractional order adaptive sliding mode control (FOASMC) algorithm is proposed.
      Methods  First, the spectral density of random waves, spectral density of wave inclination and spectrum of waves acting on ships are calculated using a random wave model with long peak waves. The rolling angle tracking error of the system is then verified on the basis of Lyapunov stability theory. Moreover, the switching function is designed to make the system robust to uncertainties and external disturbances. Finally, the effects of fractional order, control law gain and sliding surface mode gain are analyzed.
      Results  The results show that the mean rolling angle and standard deviation of FOASMC are smaller than those of basic sliding mode control (SMC) for various speeds and wave directions. For example, when the ship's speed is 10 m/s and the encountering wave direction is five degrees, the average rolling angle is 25.89% of the basic SMC, and the mean square deviation is 14.32% of the basic SMC.
      Conclusions  It is proven that the proposed control algorithm has good stabilization effectiveness at various navigation speeds and encountering wave directions, as well as such advantages as strong robustness, continuous control input and no high gain.

     

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