) 哈尔滨工程大学 自动化学院,哈尔滨 150001
收稿日期:2019-03-23出版日期:2020-08-28发布日期:2020-08-18通讯作者:陈兴华E-mail:chenxinghua@hrbeu.edu.cn作者简介:夏国清(1962-),男,黑龙江省哈尔滨市人,教授,博士生导师,主要从事船舶运动控制研究基金资助:国家自然科学基金资助项目(51609046);中央高校基金资助项目(HEUCFM170403);第七代超深水钻井平台(船)创新专项经费资助项目Finite-Time Observer Design for Dynamic Positioning Assisted Mooring Positioning Ship
XIA Guoqing, LIU Caiyun, CHEN Xinghua() College of Automation, Harbin Engineering University, Harbin 150001, China
Received:2019-03-23Online:2020-08-28Published:2020-08-18Contact:CHEN Xinghua E-mail:chenxinghua@hrbeu.edu.cn摘要/Abstract
摘要： 针对船舶动力定位辅助锚泊定位(DPM)系统中速度不可测和外部扰动不确定的问题,基于传统的状态观测器的设计了一种有限时间状态观测器(FTSO),所提观测器可以同时对船舶速度和外部扰动进行估计.在船舶的建模过程中考虑了系统中的未建模动态项,并根据建立的数学模型给出了所提观测器的数学表达式.利用矩阵不等式、齐次理论和Lyapunov稳定性理论等证明了该有限时间观测器是半全局有限时间稳定的.对所提观测器进行了仿真验证,并与传统的状态观测器进行了对比实验,仿真结果表明所提观测器具有更快的收敛速度和更好的抗干扰性.
关键词: 动力定位辅助锚泊定位系统, 速度不可测, 外部扰动, 有限时间状态观测器, 有限时间稳定
Abstract: In response to the problem of unmeasurable velocity and uncertain external disturbances of the dynamic positioning assisted mooring positioning (DPM) system of the ship, a finite-time observer based on the traditional state observer to estimate the velocity and external disturbances is proposed. The unmodelled dynamic items in the system are considered in the modelling process of the ship. Based on the dynamics model, the mathematical expression of the finite-time observer is given. It is proved that the proposed finite-time observer is semi-global finite-time stable by using matrix inequality, homogeneous, and the Lyapunov stability theory. The observer is simulated and compared with the traditional state observer in order to justify that the proposed finite-time observer has a faster convergence and a better disturbance rejection.
Key words: dynamic positioning assisted mooring positioning (DPM) system, unmeasurable velocity, external disturbance, finite-time state observer (FTSO), finite-time stability
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