建模、仿真、分析与决策 |
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基于干扰观测器的波浪升沉模拟及自适应补偿策略研究 |
马长李1, 刘聪2, 马奔3 |
1.海军研究院, 北京 100161 2.中国航天系统科学与工程研究院, 北京 100089 3.中国科学院电子学研究所 苏州研究院, 江苏苏州 215123 |
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Research on wave heave simulation and adaptive compensation strategy based on disturbance observer |
MA Chang-li1, LIU Cong2, MA Ben3 |
1.Naval of Armament, Beijing 100161, China 2.China Aerospace Academy of Systems Science and Engineering, Beijing 100089, China 3.Suzhou Research Institute, Institute of Electronics, Chinese Academy of Sciences, Suzhou 215123, China |
[1] 王军政, 赵江波, 汪首坤. 电液伺服技术的发展与展望[J].液压与气动,2014(5):1-12. doi: 10.11832/j.issn.1000-4858.2014.05.001 WANG Jun-zheng, ZHAO Jiang-bo, WANG Shou-kun. The development and future trends of electro-hydraulic servo technology[J]. Chinese Hydraulics & Pneumatics, 2014 (5): 1-12. [2] GUO K, WEI J, FANG J, et al. Position tracking control of electro-hydraulic single-rod actuator based on an extended disturbance observer[J]. Mechatronics, 2015, 27: 47-56. doi: 10.1016/j.mechatronics.2015.02.003 [3] CHENG G, ZHU S A. Derivative and integral sliding mode adaptive control for a class of nonlinear system and its application to an electro-hydraulic servo system[J]. Proceedings of the CSEE, 2005(4): 105-110. doi: 10.13334/j.0258-8013.pcsee.2005.04.019 [4] LAINIOTIS D G, PLATANIOTIS K N, MENON D, et al. Adaptive heave compensation via dynamic neural networks[C]// Proceedings of OCEANS '93, Victoria, BC, Oct. 18-21, 1993. doi:10.1109/OCEANS.1993.326005 [5] LAINIOTIS D G, ANAGNOSTOU K E. A new per-sample partitioning filter[J]. Signal Processing, 1987, 12(1): 27-47. doi: 10.1016/0165-1684(87)90080-6 [6] EL-HAWARY F, MBAMALU G A N. Dynamic heave compensation using robust estimation techniques[J]. Computers & Electrical Engineering, 1996, 22(4): 257-273. doi: 10.1016/0045-7906(96)00003-1 [7] EL-HAWARY F, AMINZADEH F, MBAMALU G A N. Computational experience with the generalized kalman filter for dynamic heave compensation[C]// Oceans '92. Mastering the Oceans Through Technology, Newport, RI: IEEE, 1992: 271-276. doi: 10.1109/OCEANS. 1992.612701 [8] KORDE U A. Active heave compensation on drill-ships in irregular waves[J]. Ocean Engineering, 1998, 25(7): 541-561. doi:10. 1016/s0029-8018(97)00028-0 [9] DO K D, PAN J. Nonlinear control of an active heave compensation system[J]. Ocean Engineering, 2008, 35(5/6): 558-571. doi: 10. 1016/j.oceaneng.2007.11.005 [10] DO K D, PAN J. Control of ships and underwater vehicles[M]. London: Springer, 2009:1-402. doi:10.1007/978-1-84882-730-1 [11] DO K D. Formation tracking control of unicycle-type mobile robots[C]// IEEE International Conference on Robotics and Automation, Roma: IEEE, 2007: 2391-2396. doi:10.1109/ROBOT.2007.363677 [12] NEUPERT J, MAHL T, HAESSIG B, et al. A heave compensation approach for offshore cranes[C]// American Control Conference, Seattle: IEEE, 2008: 538-543. doi:10.1109/ACC. 2008.4586547 [13] 席雷平, 陈自力, 齐晓慧. 基于非线性干扰观测器的机械臂自适应反演滑模控制[J].信息与控制,2013,42(4):470-477. doi:10.3724/SP.J.1219.2013.00470 XI Lei-ping, CHEN Zi-li, QI Xiao-hui. Adaptive backstepping sliding mode control for robotic manipulator with nonlinear disturbance observer[J]. Information and Control, 2013, 42(4): 470-477. [14] 杨立一. 基于神经网络干扰观测器的终端滑模飞行控制设计[J].机械工程与自动化,2012 (4):152-154,157. doi:10.3969/j.issn.1672-6413. 2012.04.063 YANG Li-yi. Terminal sliding mode flight control design based on neural network disturbance observer[J]. Mechanical Engineering & Automation, 2012 (4): 152-154, 157. [15] 刘柏廷, 吴云洁, 黄延福. 基于模糊干扰观测器的自适应反演滑模控制研究[J].系统仿真学报,2011,23(8):1677-1680. doi:10.16182/j.cnki. joss.2011.08.049 LIU Bo-ting, WU Yun-jie, HUANG Yan-fu. Research of adaptive backstepping sliding mode controller based on fuzzy disturbance observer[J]. Journal of System Simulation, 2011, 23(8): 1677-1680. [16] 崔洋培, 吴庆宪, 陈谋. 基于滑模干扰观测器的空空导弹三维预测制导律设计[J].航天控制, 2015,33(2):3-8. doi:10.3969/j.issn.1006-3242. 2015.02.001 CUI Yang-pei, WU Qing-xian, CHEN Mou. Design of three-dimensional predictive guidance law for air-to-air missiles based on sliding mode disturbance observer[J]. Aerospace Control, 2015, 33(2): 3-8. [17] 李继东. 电液伺服并联六自由度船舶模拟器控制研究[D].秦皇岛:燕山大学机械工程学院,2015:1-122. LI Ji-dong. Research on control of 6-DOF ship simulator with electro-hydraulic servo parallel connection[D]. Qinhuangdao: Yanshan University, School of Mechaical Engineering, 2015: 1-122. [18] 汪亭玉, 梁忠诚. 一种模拟波浪中船载光通信机运动的实验平台[J].中国造船,2009,50(4):127-134. doi:10.3969/j.issn.1000-4882.2009.04. 017 WANG Ting-yu, LIANG Zhong-cheng. An experimental platform of ship movement simulation for free space optical communication[J]. Shipbuilding of China, 2009, 50(4): 127-134. |
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