Abstract: In the civilian field, the role of maritime cargo supply is to ensure people's basic needs to be satisfied, while in the military field, the logistics support of cargo supply may affect the success or failure of local wars. An active wave compensation device installed on the crane is designed for the alongside replenishment system of two ships. The device is a nonlinear, strong coupling, multiple input and multiple output complex system for load pose control. An integral sliding-mode control strategy is proposed to optimize the controller, aiming at the improvement of the control accuracy of general sliding-mode control algorithm. By introducing an integral term, designing a new sliding-mode surface and control rate, and reasonably setting the initial state of the integrator, making the initial state of the system on the sliding surface from the beginning, thereby eliminating the arrival segment and enabling the system to quickly reach a stable state. The sliding-mode control parameters are adjusted automatically by designing fuzzy control rules to reduce the chattering of the integral sliding-mode control, and thus reducing the chattering of the system. Finally, the Lyapunov's second law is used to prove the stability of the system. The simulation experiment also demonstrates the effectiveness of the proposed control method.

Key words: wave compensation, sliding-mode control, fuzzy integral fuzzy control, chattering

摘要： 在民用领域,海上货物补给的作用是确保人们的基本需求得到满足;而在军事领域,舰船远洋作战时的货物补给后勤保障可能影响局部战争的成败。该文在舰船并靠补给系统中,设计了1款安装在起重机上的主动式波浪补偿装置,该装置对负载位姿控制属于非线性、强耦合、多输入多输出的复杂系统。为了提高一般滑模控制算法的控制精度,在此基础上,文中又提出了一种积分滑模控制策略,以对控制器进行优化,主要通过引入积分项、设计新的滑模面和控制率以及合理设定积分器的初始状态,使系统的初始状态一开始就处于滑模面上,从而消除到达段,使系统更加快速达到稳定状态;为了减弱积分滑模控制的抖振,通过设计模糊控制规则自适应调节滑模控制参数,从而达到减弱抖振的目的;最后又采用李雅普诺夫第二定律证明了系统的稳定性,并以仿真实验证明所提控制方法的有效性。

关键词: 波浪补偿, 滑模控制, 模糊积分模糊控制, 抖振