精确反馈线性化在船舶航向保持器上的应用  

Course Keeping Autopilot for Ships Based on Exact Feedback Lineralization

作　　者：宫永超[1] 张显库[1] 

机构地区：[1]大连海事大学航海动态仿真和控制实验室,大连116026

出　　处：《舰船电子工程》2006年第3期73-76,共4页Ship Electronic Engineering

摘　　要：现有的船舶航向保持器的设计大都采用Nomoto线性模型,而忽略了船舶操纵运动的非线性因素,因此航向控制的精度比较低。选择状态反馈精确线性化方法,将响应型船舶运动的非线性数学模型进行线性化,再利用基于闭环增益成形算法的鲁棒控制器进行控制,然后在Matlab的Simulink下进行系统仿真,仿真结果表明,所设计的基于闭环增益成形算法的控制器比基于LQR的控制器具有更好的控制能力。Most designs for course - keeping autopilot for ships adopt linear Nomoto model and neglect its nonlinear factors. For this reason the accuracy of course - keeping is low. The nonlinear mathematic model for ships is linearized via exact feedback linearization, and then the robust controUer based on closed - loop gain shaping algorithm controls the model for ships. Under the Simulink condition, the simulation results show that the controller based on closed- loop gain shaping has better performance to the nonlinear mathematic model compared with that based on LQR.

关 键 词：闭环增益成形 船舶非线性模型 状态反馈精确化 航向保持器 鲁棒控制 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置] U665[自动化与计算机技术—控制科学与工程]