基于斜舵船舶减纵摇LQG控制  

Ship pitching stabilization of slanting rudder based on LQG control method

作　　者：孙宏放[1] 张忠宝 赵希人[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《哈尔滨工业大学学报》2008年第9期1470-1473,1480,共5页Journal of Harbin Institute of Technology

基　　金：国防预研基金资助项目(413140210201)

摘　　要：研究基于斜舵船舶减纵摇问题,建立了船舶基于斜舵纵向运动状态空间数学模型,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,并引入白噪声作为系统干扰.对扩展后的新系统,运用线性二次高斯(LQG)控制方法计算出扩展Kalm an滤波增益阵和扩展随机最优控制增益阵.另外通过仿真给出了斜舵的倾斜角度对减摇效果的影响.仿真结果表明,基于斜舵利用经典的LQG控制方法实现船舶减纵摇控制是可行的.A state space mathematical model is proposed for slanting rudder pitching stabilization. The stochastic sea interference modeling was completed by using a least square method by recursion. The original model and interference model were merged into a new system model by introducing white noises into the normal distribution. For the new extended system, the steady-state extended Kalman filtering plus matrix and the steady-state extended stochastic optimal control plus matrix were obtained by the Linear Quadratic Gaussian （LQG） method. Besides, the relation of slanting rudder＇ s angle and pitching was analyzed by simulation. The results indicate that using the classical LQG method to realize the anti-pitching by slanting rudder is feasi- ble and efficacious in the engineering application.

关 键 词：斜舵船舶 LQG控制 扩展随机最优控制 KALMAN滤波 

分 类 号：U664.7[交通运输工程—船舶及航道工程]