), 韩旭 大连海事大学 航海学院，辽宁 大连 116026
收稿日期:2019-04-16出版日期:2021-01-01发布日期:2021-01-19作者简介:张显库(1968-)，男，辽宁省辽阳市人，教授，博士生导师，现主要从事船舶运动控制的研究．电话(Tel.): 0411-84729572；E-mail：基金资助:国家自然科学基金资助项目(51679024)Modeling and Sliding Mode Control for Chaotic Yawing Phenomenon of Large Oil Tanker
ZHANG Xianku(), HAN Xu Navigation College, Dalian Maritime University, Dalian 116026, Liaoning, China
Received:2019-04-16Online:2021-01-01Published:2021-01-19摘要/Abstract
摘要： 为了合理解释并控制大型油轮操纵过程中出现的船首异常摆动现象，采用驾驶员模型替代原有的比例模型，结合非线性响应型数学模型，建立了驾驶员操纵大型油轮的闭环系统数学方程，发现其与Duffing方程形似，且在一定的参数配置下系统的Lyapunov指数为正，说明可以用混沌理论解释船首异常摆动的现象．为实现航向保持的稳定控制并增强对参数不确定的鲁棒性，基于反步法提出了与模型对应的滑模控制率．仿真结果表明，当混沌艏摇处于理论最大值时，受控系统的稳态舵角仍小于5°，航向偏差小于0.07°，所设计的控制器很好地消除了混沌现象．建立人在回路中的混沌系统的思路较为新颖，借助滑模解决反步法参数不确定的方法简单而有效．
关键词: 混沌, 驾驶员模型, 混沌系统建模, 反步法, 滑模控制, 航向保持控制
Abstract: In order to explain and control the unexpected yawing phenomenon of large oil tankers, a pilot model is used to replace the original proportional model and is combined with the nonlinear ship responding model to construct a model of the whole closed-loop maneuvering system, which is found to be similar to the chaotic Duffing equation, and to be able to have a positive Lyapunov exponent after parameter adjustment, indicating that the chaotic theory can be used to explain this unexpected yawing phenomenon. In order to realize course keeping control with robustness to parameter uncertainty, based on the model built and the backstepping method, a sliding mode control scheme is proposed. The simulation illustrates that the static state rudder angle is smaller than 5° and course deviation is smaller than 0.07° when the chaotic yawing is at the theoretical maximum. Chaotic yawing is eliminated. The idea of establishing man-in-the-loop chaotic system is novel, and the method of solving backstepping parameter uncertainty through sliding mode is easy and effective.
Key words: chaos, pilot model, chaotic system modeling, backstepping method, sliding mode control, course keeping control
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