欢迎您！东篱公司
退出
-
申报数据库
-
立项数据库
-
成果数据库
-
项目获奖数据库
中文摘要：
针对锚泊辅助动力定位控制系统中的不确定性问题,考虑系统的计算延时,提出一种高阶线性扩张状态观测器（ESO）用来估计系统下一采样时刻的总扰动,并在闭环中将其实时补偿,这种方法控制参数少、简洁且易于工程实施。本文以一艘救助船为研究对象,仿真验证了所提算法不仅具有高的控制精度、快速响应能力、抗扰性能,还能减少执行机构的磨损;并进一步以一艘供给船验证了所提算法的鲁棒性。
英文摘要：
A high order linear extended state observer（ ESO） is proposed in this paper to predict the total disturbance of thruster-assisted position mooring system in the next sample time,which is characterized by large uncertainties and calculation delay,and compensate it in the closed loop with control actions. This method requires fewer parameters and it is simple for engineering implementation. A rescue ship and a supply ship are employed for simulation studies. The simulation results indicated that the proposed method not only possesses high control accuracy,fast response,and disturbance rejection capability,but also can reduce the wear and tear of the actuators. The robustness of the proposed algorithm is validated.
同期刊论文项目
同项目期刊论文
期刊信息
位置：