• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

›› 2010, Vol. 46 ›› Issue (10): 164-169.

• 论文 • 上一篇    下一篇

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基于干扰观测器的舰船运动模拟器非线性控制

皮阳军;王宣银;李强;程佳   

  1. 浙江大学流体传动及控制国家重点实验室
  • 发布日期:2010-05-20

Nonlinear Control of Ship Motion Simulator Based on Disturbance Observer

PI Yangjun;WANG Xuanyin;LI Qiang;CHENG Jia   

  1. The State Key Lab of Fluid Power Transmission and Control, Zhejiang University
  • Published:2010-05-20

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摘要： 舰船运动模拟器在使用中会受到来自被测设备的干扰力，该干扰力对模拟器的精确控制存在较大影响。针对此问题，根据系统动力学模型，提出一种自适应干扰观测器，在线观测模拟器所受干扰力，并在控制器中进行补偿。分析液压驱动的舰船运动模拟器在精确控制中的困难，使用鲁棒控制器克服参数不确定性和未建模不确定性引起的干扰。利用反步法推导出综合非线性控制器，并通过Lyapunov方法证明了该控制器是渐近稳定的。试验证明，该控制器在存在较大外干扰情况下能够平稳运行，且与普通比例积分微分(Proportional integration differential, PID)算法相比，有效地提高了系统的动态跟踪性能。

关键词: 6自由度, 并联平台, 补偿, 干扰观测, 轨迹跟踪, 运动模拟器

Abstract: Ship motion simulator is subjected to disturbance caused by the tested equipment, which affects the control accuracy of the simulator. Through analysis of the dynamics of the system, an adaptive disturbance observer is designed to estimate the disturbance online, and then compensation is made in the controller. The difficulties of the hydraulically controlled ship motion simulator in accurate control are analyzed, and a robust controller is designed to overcome the disturbance caused by parametric uncertainty and unmodeled uncertainty. The backstepping method is adopted to develop the integrated nonlinear controller. The controller is proven to be asymptotically stable via Lyapunov analysis. The experiment results performed with the ship motion simulator demonstrate the effectiveness of the approach. And the performance of the system is improved in comparison to using a proportional integration differential (PID) controller.

Key words: 6-DOF, Compensation, Disturbance observer, Motion simulator, Parallel platform, Trajectory tracking

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