本文在MMG模型基础上结合实船试验获得的水动力参数和喷水推进泵的工作特性，建立了喷水推进船艇的三自由度运动数学模型。将状态变量和滑模面积分融入趋近律中最终得到航向控制律，通过改进设计使得滑模面的切换过程更加平滑，提高了算法的控制精度。构造Lyapunov函数证明了所设计的控制器是渐进稳定的。超扭曲滑模控制算法控制器输出的期望角度较传统PID控制算法在航行过程中振荡较小，对期望角度的跟踪效果更好。艏向角到达期望值以后，滑模面趋近于0，具有较高的稳定性与快速性。
Based on the MMG model and combined with the hydrodynamic parameters obtained from real ship experiments and the working characteristics of the water jet propulsion pump,this article establishes a three degree of freedom motion mathematical model for water jet propulsion watercraft.The state variables and sliding mode area are integrated into the approaching law to obtain the heading control law.By improving the design,the switching process of the sliding mode surface is smoother,which improves the control accuracy of the algorithm.The construction of Lyapunov function proves that the designed controller is asymptotically stable.The desired angle output of the controller using the super twisted sliding mode control algorithm oscillates less during navigation compared to the traditional PID control algorithm,resulting in better tracking performance for the desired angle.After the bow angle reaches the expected value,the sliding surface approaches zero,exhibiting high stability and speed.
2025,47(22): 127-132 收稿日期：2024-11-8
DOI：10.3404/j.issn.1672-7649.2025.22.018
分类号：U664.82
作者简介：马庆严（1995 – ），男，硕士，工程师，研究方向为喷水推进船机电控制
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