鲁棒H_∞控制理论在舵减摇中的应用  

Application of Robust H_∞ Control Theory to Rudder Roll Stabilization

作　　者：刘彦文[1] 刘胜[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《控制工程》2009年第5期558-560,共3页Control Engineering of China

基　　金：哈尔滨工程大学校基础研究基金资助项目(HEUFT06041)

摘　　要：针对船舶舵减横摇控制系统的非最小相位特性,提出了基于正实性设计思想的鲁棒H∞设计方案。分析了系统的性能要求和舵机对舵角和舵速的限制,给出了权函数选择的详细过程,设计了舵减摇的H∞控制器。考虑了系统模型可能存在的不确定性,将鲁棒H∞设计结果与传统的PID设计结果进行了对比。仿真结果表明,所设计的舵减摇H∞控制系统不但取得了很高的减摇效果,而且具有很好的鲁棒稳定性;而传统的PID控制系统在对象模型存在摄动时,会导致系统不稳定,鲁棒性很差。Considering the non minimum phase property of the rudder roll stabilization（RRS） system, the robust H∞ design approach based on the positive real concept is proposed. By analyzing the performance specifications and limitations of the rudder angle and rudder speed, the determination of weighting functions is discussed, and then the H∞ rudder roll stabilization controller is designed. The robust H∞ design is compared with the traditional PID by adding the model uncertainty to the system. The simulation results show that, a considerable amount of roll reduction is provided by the H∞ RRS controller, and the system can achieve good robustness. Whereas the traditional PID control system is unstable with plant perturbation, and can only achieve bad robustness.

关 键 词：舵减摇 权函数 H∞设计 鲁棒稳定性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]