舵鳍联合减摇的鲁棒控制系统  

Integrated robust control system of rudder and fin

作　　者：张显库[1] 杨盐生[1] 郭晨[1] 

机构地区：[1]大连海事大学航海动态仿真与控制实验室,辽宁大连116026

出　　处：《交通运输工程学报》2006年第4期71-74,共4页Journal of Traffic and Transportation Engineering

基　　金：国家自然科学基金项目(60474014);高等学校博士学科点专项科研基金项目(20040151007);交通部基础研究基金项目(200432922504)

摘　　要：为了在保持航向的同时,达到较好的减摇效果,提高船舶航行的安全性和舒适度,设计一种舵鳍联合控制系统。根据先验知识,用具有工程意义的带宽频率、高频渐近线斜率、最大奇异值和频谱峰值4个参数构造了闭环系统的传递函数阵,给出了多输入多输出系统的闭环增益成形算法,将之应用于舵鳍联合减摇的控制中,运用Simulink工具箱得到仿真曲线。仿真结果表明所设计的控制系统在保证航向控制的同时,船舶横摇平均在±2°左右,最大4°,达到了较好的减摇效果。In order to improve the safety and comfort of ship navigation, a kind of rudder-fin joint control system was designed to make ship have good course-keeping and roll-damping effects, a closed-loop gain shaping algorithm for multi-input multi-output （MIMO） system was presented by constructing the transfer function matrix of the closed-loop system according to prior knowledge, four parameters with engineering meaning, such as bandwidth frequency, high frequency asymptote slope, the largest singular value and the peak value of closed-loop frequency spectrum, were used to construct the matrix. The designed algorithm was applied to a rudder-fin joint control system, its simulating curves were obtained using Simulink. Simulation results show that the controll system has well control performances on course-keeping and roll stabilization, the average roll angle range is from ＋ 2° to-2° , and the maximum roll angle is 4°. 2 figs, 10 refs.

关 键 词：船舶工程 舵鳍联合减摇控制 闭环增益成形算法 鲁棒控制 

分 类 号：U664.82[交通运输工程—船舶及航道工程]