基于分级抗扰策略的大型船舶拖航路径跟踪控制研究

Path Following Control of Large Ship Towing Based on Hierarchical Anti-Disturbance Control Strategy

  • 摘要: 【目的】安全拖曳大型船舶到目标海域对于船舶通航安全是至关重要的,为了提高欠驱动拖轮自主拖曳大型船舶航行过程中的抗干扰性能,提出一种基于自抗扰滑模的分级抗扰控制策略。【方法】首先,基于船舶MMG模型建立了拖曳系统耦合运动数学模型;然后,提出了适用于拖曳航行的拖航视线制导方法,将路径跟踪问题转化为航速与航向控制问题,并设计分级抗扰控制策略(HAD-CS),在被拖船控制层级设计基于自抗扰控制与滑模控制相结合的顶层抗扰控制方法,保证拖曳系统实现路径跟踪的控制目标,并实时分配给底层拖轮控制任务。在拖轮控制层级设计基于自抗扰滑模的底层抗扰控制方法,将顶层的抗扰控制输出作为自身控制输入,在考虑拖缆与推进器的约束限制基础上实现分层控制,分级抗扰;最后,在仿真环境中对比评估了拖曳系统在环境扰动情况下的抗扰性能。【结果】结果表明,采用分级控制策略进行大型船舶拖航控制,使得被拖船路径跟踪性能提升16.9%,航向和航速保持性能分别提升34.6%和67.5%;拖轮艏向与航速保持性能提升51.9%和52.2%。【结论】提出的控制策略可以有效抵抗自主拖轮拖航过程中船舶受到的外界干扰,为拖轮自主拖航的应用提供理论参考。

     

    Abstract: Objectives Safely towing large ships to target sea areas is crucial for maritime navigation safety. In order to enhance the disturbance rejection performance of underactuated autonomous tugboats during the towing process of large ships, a hierarchical disturbance rejection control strategy based on Active Disturbance Rejection Sliding Mode Control is proposed. Methods Firstly, a coupled motion mathematical model of the towing system under disturbances is established based on the ship MMG model. Subsequently, a towed line-of-sight guidance method applicable to towed navigation is proposed, converting the path tracking problem into a speed and heading control problem. A hierarchical anti-disturbance control strategy (HAD-CS) is designed. For the control layer of the towed vessel, a top-level disturbance rejection control based on a combination of active disturbance rejection control and sliding mode control is structured to ensure the towing system achieves the control objective of path tracking. Real-time allocation is made to the lower-level tow winch control task. In the tow winch control layer, a bottom-level anti-disturbance control based on active disturbance rejection sliding mode control is designed, with the output of the top-level disturbance rejection control serving as its own control input. Hierarchical control and hierarchical anti-disturbance are achieved based on considerations of the constraints of the tow cable and thrusters. a towing line-of-sight guidance method suitable for towing navigation is proposed, which transforms the path tracking problem into a speed and heading control problem. A hierarchical anti-disturbance control strategy (HAD-CS) is designed based on the manipulation model of the towing system. In the disturbance rejection layer of the towed vessel, a top-level virtual controller combining self-disturbance rejection control and sliding mode control is designed. The output information of the virtual controller is used as the input to the lower-level tug controller. For the tug's disturbance rejection layer, a sliding mode controller based on an extended state observer is designed, taking into account the constraints of the towline and propeller. Finally, the anti-disturbance performance of the towing system under complex disturbances is compared and evaluated in a simulation environment. Results By utilizing a hierarchical active disturbance rejection sliding mode control strategy for towing control, the path tracking performance of the towed large vessel is enhanced by 16.9%. The heading and speed keeping performances are improved by 34.6% and 67.5% respectively. Additionally, the heading and speed keeping performances of the tugboat are increased by 51.9% and 52.2% respectively Conclusions The proposed control strategy can effectively resist external

     

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