舰艇环航时电罗经主轴的鲁棒自抗扰控制算法  

Robust and Active Disturbance Rejection Control Algorithm for Principal Axis of Electromagnetic Controlled Gyrocompass

作　　者：夏卫星[1] 杨晓东[1] 严建华[2] 

机构地区：[1]海军潜艇学院 [2]海军92678部队

出　　处：《中国造船》2010年第2期162-168,共7页Shipbuilding of China

基　　金：海军装备部"武器装备军内科学研究"项目

摘　　要：基于舰艇匀速环航状态下的电罗经主轴运动方程式,模拟电罗经主轴变化的过程,对该过程添加外界扰动并仿真计算。将鲁棒控制理论与标准的自抗扰控制技术相结合,设计了改进的自抗扰控制器(ADRC)。利用该改进型自抗扰控制算法对受到扰动的电罗经主轴的变化过程实现鲁棒自抗扰控制。算法的仿真结果表明,改进型的自抗扰控制技术其抗扰动效果明显优于H∞Kalman滤波器以及标准的自抗扰控制技术,可以获得较高的控制品质和理想的控制效果,具有较强的鲁棒性。The external disturbance is added to the equations of electromagnetic controlled gyrocompass during uniform steering to simulate the change process of principal axis direction of electromagnetic controlled gyrocompass.The improved ADRC technique is designed with robust control theory and standard ADRC,then the improved ADRC technique is used to control the process mentioned above.The result indicates that the improved Active Disturbance Rejection Control Technique has a better controling effict than H^∞Kalman filter,and it also has higher control quality and better robustness than common ADRC.

关 键 词：改进型自抗扰控制 环航 电罗经 H∞Kalman滤波器 

分 类 号：U666.151[交通运输工程—船舶及航道工程]