分置式浮桥的动力学建模与鲁棒容错控制研究  

Research on the dynamics modeling and robust fault tolerant control of separated floating bridges

作　　者：张晓宇[1] 沈冬祥 

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]总装工程兵科研一所,江苏无锡214035

出　　处：《哈尔滨工程大学学报》2009年第3期292-298,共7页Journal of Harbin Engineering University

摘　　要：动力固定是一种全新的浮桥固定方法,具有重要的实际应用价值.提出把整个浮桥系统作为研究对象,建立了分置式动力固定浮桥的动力学模型,对浮桥的运动进行了分析,按照动力固定控制系统要求对模型进行简化.由于浮桥系统的复杂性,考虑到动力舟在实际使用中容易发生故障,提出将系统在动力舟失效情况下的容错控制问题转换为LMI的可行性问题,设计浮桥的鲁棒H∞容错控制系统,以浮桥模型试验测得的水阻力等外界干扰力为依据,对浮桥动力固定特性进行数学仿真.仿真结果证明了建模方法的正确性,同时,说明当动力舟发生故障时,所设计的鲁棒H∞容错动力固定控制系统能够有效地保持浮桥的横向稳定性.Dynamic positioning of floating bridges is a novel method that offers significant advantages over conventional pontoon bridge techniques. A nonlinear mathematical model of the dynamic positioning of a separated floating bridge was developed for this paper, where the floating bridge was taken into account as a complete system. The motions of the entire floating bridge were then analyzed. Moreover, a control system model was derived that could meet the needs of dynamic positioning. Because the demands of a floating bridge are so complex that the system can easily experience faults, an effectively robust H∞ fault tolerant control method for a floating bridge system was given via a region of linear matrix inequality （LMI） with consideration of dynamical boat failures. The range of floating bridge motions was then investigated in terms of current forces as the floating bridge test model. Simulation results showed that the well as other si proposed robust H∞ fault tolerant control system for floating bridges effectively keeps namical boat failures. contro longitu gnificant forces, all measured in 1 method is effective, and that a dinal stability by anticipating dynamical boat failures.

关 键 词：浮桥 动力固定 动力学模型 鲁棒H∞容错控制 线性矩阵不等式 

分 类 号：O313[理学—一般力学与力学基础] TP273[理学—力学]