舰船航向保持的变结构控制及仿真

运用变结构控制理论和计算机仿真技术研究舰船航向保持过程的变结构控制问题,针对舰船定向航行要求航向准、舵角小的控制特点,采用二次型最优控制方法设计滑动模态超平面,设计了满足滑模超平面到达条件的指数趋近律,导出了对应的控制律。同时,为进行比较研究,设计了PID控制器并整定了相关参数。理论分析与仿真研究表明:对于舰船定向航行,变结构控制方案正确可行,控制效果优于PID控制方案。

Variable structure control and simulation for course-keeping of ships

The variable structure control for course-keeping of ships is investigated by using the variable structure control theory and computer simulation technique. According to the purpose and requirement of the accurate course and small rudder in navigation, the quadratic optimal control technique is used to design the sliding mode hyperplane, and the exponential approaching law, which satisfies the condition of reaching sliding mode hyperplane, is designed and the corresponding control law is deduced. Meanwhile, the PID controller is designed and the correlative parameters are adjusted well for comparing with the variable structure controller. By theoretical analysis and numerical simulation, it is shown that the variable structure control is correct and feasible and the control effect is better than PID control for ship course-keeping.