| 一种新的变结构控制方案及其在船舶操纵中的应用 |
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| 引用本文： | 张戎军,许汉珍,顾王明. 一种新的变结构控制方案及其在船舶操纵中的应用[J]. 海军工程大学学报, 1994, 0(2) |
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| 作者姓名： | 张戎军 许汉珍 顾王明 |
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| 作者单位： | 华中理工大学 |
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| 摘 要： | 船舶的操纵与控制问题可以归结为一个四阶线性系统在环境干扰、参数摄动与建模误差同时存在时的状态空间控制问题。传统的变结构控制应用于船舶操纵系统易导致频繁来回操舵。本文研究一种连续的变结构控制方案，进一步讨论了其稳定性及优点，并将其引入限制水域的船舶操纵中。仿真表明，它可以完全抑制频繁来回操舵或抖振，并可得到较理想的控制效果。
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| 关 键 词： | 变结构控制，滑动模态，边界层，船舶操纵 |
On a Novel Variable Structure Control Scheme and Its Application to Ship Steering |
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| Zhang Rongjun,Xu Hanzhen,Gu Wapgming. On a Novel Variable Structure Control Scheme and Its Application to Ship Steering[J]. Journal of Naval University of Engineering, 1994, 0(2) |
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| Authors: | Zhang Rongjun Xu Hanzhen Gu Wapgming |
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| Abstract: | Ship's steering and control problem can be formulated as a state-space control problem of a four-order linear system subject to environment disturbances, parameter perturbations and modelling errors.Traditional variable structure control applied to ship steering system may easily cause frequently back-and -forth steering. In this paper,a class of continuous VSC scheme is studied and the system's stability and advantages are further discussed.This scheme is introduced into ship manoeuvring in restricted waters.The simulation resultsshow that the back-and-forth steering (or chattering) can be entirely prevented and desired control responses can be obtained. |
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| Keywords: | Variable structure control Sliding mode Boundary layer Ship manoeuvring |
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