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针对船舶模型的不确定和海浪干扰问题,为实现船舶航向控制,提出了一种嵌入积分滑模控制方法,此方法结合了积分滑模和嵌入滑模的控制思想。积分滑模是用来减小滑模函数的增益,嵌入滑模用来补偿系统匹配和不匹配的扰动。并利用基于极点配置的状态估计方法实现了对高频海浪扰动的滤波。最后进行仿真试验,结果表明设计的控制器具有船舶操纵的良好动态特性,具有超调小鲁棒性强的优点,更适合船舶航向控制的工程要求。
In order to deal with the uncertainty of ship model and the disturbance of waves, an integral sliding mode control method is proposed to realize the ship heading control. This method combines the control idea of integral sliding mode and embedded sliding mode. Integral sliding mode is used to reduce the gain of the sliding mode function, and the embedded sliding mode is used to compensate for system matching and unmatched disturbances. The filter of the high frequency sea-wave disturbance is realized by the state estimation method based on the pole placement. Finally, simulation results show that the designed controller has the good dynamic characteristics of ship maneuver, has the advantage of strong overshoot and small robustness, and is more suitable for the engineering requirements of ship heading control.