船舶舵减摇的H∞控制设计  

H_∞ design for rudder roll stabilization of ships

作　　者：刘彦文[1] 刘胜[1] 王毅[2] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [2]哈尔滨工业大学控制科学与工程系,黑龙江哈尔滨150001

出　　处：《电机与控制学报》2009年第1期133-137,共5页Electric Machines and Control

基　　金：哈尔滨工程大学校基础研究基金资助项目(HEUFT07008);黑龙江省博士后基金资助项目(LRB07-097)

摘　　要：针对舵减摇控制系统的特点,提出了一种H∞设计方案。忽略了艏摇特性和横摇特性之间的耦合作用,分析了舵减摇控制系统。采用H∞混合灵敏度的设计方法,从基本的性能要求和鲁棒稳定性要求出发,阐述了舵减摇控制系统H∞设计中权函数的选择依据和确定过程。对所设计的H∞控制器进行了降阶处理,分析了利用积分作用进行相位补偿的设计原理。仿真结果表明,所设计的舵减摇控制系统在相应的频带内具有指定的性能,而且满足鲁棒稳定性要求。对H∞设计结果的详细验证和分析表明H∞设计是一种定量设计,所有的设计要求和指标都可以定量地给出设计结果。Considering the characters of the rudder roll stabilization control system, a new H∞ design approach was proposed. The yaw property and roll property of the system was analyzed, and interactions between them was ignored. The H∞ mixed sensitivity design was used for the design, and the determination of weighting funetions was fully discussed based on the performance specifications and robust stability requirements. The order of the H∞ controller was reduced, and the phase compensation principle by using the integral function was analyzed. As can be seen from the simulation results, the rudder roll stabilization control system has the specified performance, and it satisfies the robust stability requirement. Then the design resuh was analyzed and verified in detail. It is pointed out that the H∞ design is a quantifiable design method, and all the performance specifications can be quantitatively verified.

关 键 词：H∞控制器 舵减摇 混合灵敏度 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]