基于Backstepping与闭环增益成形的减摇鳍控制  

Fin stabilizer control based on backstepping and closed-loop gain shaping algorithms

作　　者：王新屏[1] 张显库[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：《大连海事大学学报》2008年第3期89-92,共4页Journal of Dalian Maritime University

基　　金：国家"九七三"项目(2002CB312103);国家自然科学基金资助项目(60504017)

摘　　要：为提高减摇鳍控制器的鲁棒性,将Backstepping算法与闭环增益成形算法相结合,设计一种非线性鲁棒控制器.采用Matlab的Simulink工具箱分别对相同海况下未进行减摇控制、在设定航速及航速减半状态时采用减摇鳍控制的非线性数学模型进行仿真.结果表明,该控制策略对于减摇鳍非线性控制系统十分有效,具有较强的鲁棒性.该算法的优点是设计过程简单,物理意义明显.A nonlinear robust controller was designed by using baekstepping and closed-loop gain shaping algorithms to improve the robustness of fin stabilizer controller. Under the same sea state, the nonlinear mathematical model was simulated by using Simulink of Matlab respectively under such different conditions as without roll stabilizer, controlled by fin stabilizer for the given velocity and half of the given velocity. The results show that the control strategy is effective to fin stabilizer control system, and the controller has strong robust stability. The algorithm suggested here has the advantages of simple design procedure and obvious physical sense.

关 键 词：减摇鳍 非线性鲁棒控制 BACKSTEPPING 闭环增益成形 

分 类 号：U664[交通运输工程—船舶及航道工程] TP13[交通运输工程—船舶与海洋工程]