船舶横向运动LQG控制鲁棒性统计分析  

Statistics Analysis on LQG Control Robustness of a Ship Lateral Motion

作　　者：彭秀艳[1] 赵希人[1] 尹中凤[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《系统仿真学报》2007年第1期3-5,122,共4页Journal of System Simulation

摘　　要：首先介绍船舶横向运动多变量LQG控制与开环系统均值、均方差计算方法,提出应用两种系统均方差相对值这一统计指标评价系统减摇控制的鲁棒性。详细讨论了当船舶水动力系数在标称值附近独立地按均匀分布发生随机变化时,相对均方差的概率分布模型。并针对某船,在5级海情,18节航速、45度航向工况下,当船舶水动力系数独立地按均匀分布发生±10%、±20%、±30%随机变化时,进行了仿真计算。仿真结果表明,当水动力系数出现摄动时,LQG横向控制相对均方差指标服从正态分布,且与无参数摄动时相比,均值无明显变化。利用文中的方法和结果,可以计算船舶横向LQG控制在一定概率意义下的减摇效果。The method was introduced firstly with which LQG control and open loop system mean value and mean square error of a ship lateral motion were calculated. Applying the relative value of two kinds of system motion mean square error above assessed the robustness of the system control. The probabilistic distribution model of the relative mean square error was discussed, when its hydrodynamic parameters fluctuate around criterion value on the proportional distributing. And in the condition which a given ship navigates at the speed of 18 kn/h and in the course of 45 degree under Rank 5 state of sea, and the hydrodynamic parameters of the ship fluctuate at random on the proportional distributing with a range of± 10%, ± 20%, and± 30%, the simulation calculations were performed. The simulation results show that when the hydrodynamic parameters of the ship fluctuate at random, the LQG control relative mean square errors submit to normal distribution and the mean does not change remarkably comparing with those without perturbation of hydrodynamic parameter. Applying the given method in this study, LQG control effect of a ship lateral motion can be calculated in probabilistic meaning.

关 键 词：水动力系数 摄动 LQG控制 统计 建模 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]