全局滑模控制方法在喷水推进操舵系统中的应用

上海交通大学学报（自然版） ›› 2017, Vol. 51 ›› Issue (6): 693-697.

全局滑模控制方法在喷水推进操舵系统中的应用

龚征华1，田震2，熊文1，李俊舟1，李刚强1，袁景淇2

1. 中国船舶工业集团公司第708研究所喷水推进技术重点实验室，上海 200011；
2. 上海交通大学自动化系，上海 200240

出版日期:2017-06-30 发布日期:2017-06-30
基金资助:

Global Sliding Mode Control Approach for the Steering System of
the WaterJet Propulsion Device

GONG Zhenghua1，TIAN Zhen2，XIONG Wen1，LI Junzhou1,LI Gangqiang1，YUAN Jingqi2

1. Laboratory of Science and Technology on Waterjet Propulsion/the 708th Research Institute of
China State Shipbuilding Corporation, Shanghai 200011, China；
2. Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China

Online:2017-06-30 Published:2017-06-30
Supported by:

摘要/Abstract

摘要： 介绍了喷水推进操舵控制系统的工作原理，利用系统辨识方法得到某船舶喷水推进器的操舵控制对象的传递函数模型.设计了干扰观测器和全局滑模控制器，并证明了全局滑模态的存在和闭环系统的渐进稳定性.仿真结果表明，观测器对外部干扰具有较高的估计精度，基于全局滑模控制方法的操舵系统兼具良好的跟踪性能和较强的鲁棒性.

关键词: , 喷水推进, 操舵控制系统, 电液压伺服系统, 干扰观测器, 全局滑模控制

Abstract: Waterjet propulsion is an advanced propulsion technique for high speed ships. The robustness of its steering control system is an essential demand due to various disturbances. In this contribution, the mechanism transfer function model of the waterjet steering propulsion system is established first. Then, model based disturbance observer is designed and a global sliding mode controller is developed. Furthermore, the existence of global sliding mode and the asymptotically stability of the closedloop system are proved. Simulation results are presented to demonstrate the high precision of the disturbance observer, good tracking performances and strong robustness of the control strategy.

Key words:

waterjet propulsion, steering control system, electro hydraulic servo system, disturbance observer, global sliding mode control

中图分类号:

TP 273

龚征华1，田震2，熊文1，李俊舟1，李刚强1，袁景淇2. 全局滑模控制方法在喷水推进操舵系统中的应用[J]. 上海交通大学学报（自然版）, 2017, 51(6): 693-697.

GONG Zhenghua1，TIAN Zhen2，XIONG Wen1，LI Junzhou1,LI Gangqiang1，YUAN Jingqi2. Global Sliding Mode Control Approach for the Steering System of
the WaterJet Propulsion Device[J]. Journal of Shanghai Jiaotong University, 2017, 51(6): 693-697.

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