基于干扰观测器的SWATH船运动非线性预测控制

针对带有海浪干扰和参数不确定的SWATH船运动控制问题, 提出基于干扰观测器的SWATH船运动非线性预测控制. 首先对SWATH船运动进行建模、参数求解和海浪干扰仿真; 然后根据运动模型设计非线性预测控制律, 对SWATH 船升沉和纵摇进行控制, 同时利用干扰观测器对海浪干扰进行观测, 并从理论上证明了所设计的控制器可以保证SWATH 船运动的稳定性. 仿真结果表明, 所设计的控制器提高了SWATH船运动控制效果, 且能对海浪干扰进行抑制.

Nonlinear predictive control of SWATH ship motions with disturbance observer

For the problems of SWATH ship motions with external disturbances and parametric uncertainty, the nonlinear predictive control with the disturbance observer is proposed for SWATH ship motions. The SWATH ship motion model is built, hydrodynamics are got, and wave disturbances are learned firstly. Then the nonlinear predictive control law is designed for SWATH ship heave and pitch motions. And the disturbance observer is used to observe wave disturbance of SWATH ship. It is theoretically proved that the proposed controller can ensure the stability of SWATH ship motions. Simulation results show that the designed controller can get better performance of SWATH ship motions, also wave disturbances can be restrained.