船舶减纵摇控制的LQG方法研究  

Using LQG control method for pitch stabilization of ships

作　　者：陈虹丽[1] 赵希人[1] 叶葵[1] 彭秀艳[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2004年第4期407-411,共5页Journal of Harbin Engineering University

基　　金：国防科学技术委员会基础研究基金资助项目(41314020201).

摘　　要：提出一种船舶减纵摇控制的新方法.海浪对船舶的扰动力和力矩是一种平稳随机过程,基于切片理论,求得海浪扰动力和力矩的一个样本.一方面通过Kalman滤波对船舶的姿态进行有色估计,然后对系统进行随机最优控制.另一方面利用递推最小二乘法对海浪扰动进行建模.将扰动模型与原来的系统模型合并为新的系统模型,并引入白噪声作为新的系统干扰.对扩展后的新系统,运用线性二次高斯(LQG)设计方法计算出扩展Kalman滤波增益阵和扩展随机最优控制增益阵.结果表明,利用经典的LQG控制方法实现船舶减纵摇控制是可行的.最后,通过对扩展随机最优控制效果和有色随机最优控制效果的对比,可以看出扩展随机最优控制在工程应用中更可取.A method for controlling the pitching of a ship was studied. Because the wave is a stationary stochastic process for the disturbing force and moment of a ship have polymorphism ergodicities, the test sample of disturbing force and moment on a ship were built by using strip theory. The wave disturbance was set as a system colored interference directly, then the colored estimation of the motion state was given using Kalman filter, and the stochastic optimal control on the system was given. The stochastic sea interference modeling was completed by using a least square method by recursion. Here, the original model and interference model were merged into a system model by introducing white noises in normal distribution. For the extended system, the steady state extended Kalman filtering plus matrix and the steady state extended stochastic optimal control plus matrix are obtained by a linear quadratic Gaussian (LQG) method. The results indicate that using the classical LQG method to realize anti-pitching by π rudder is feasible and efficacious in the engineering application. It can be shown that the extended stochastic optimal control (ESOC) is preferred for the non-extended in the engineering application by contrast of the control effects. The effect of anti-pitching can reach 50 percent. The effect of pitch angle velocity stabilization can reach 58.8 percent.

关 键 词：扰动建模 LQG设计 扩展Kalman滤波 扩展随机最优控制 

分 类 号：U661.338[交通运输工程—船舶及航道工程]