分置式浮桥动力学模型与H_∞鲁棒控制  

Dynamic modeling and H_∞ robust control of separated floating bridge

作　　者：张国文[1] 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：《华中科技大学学报（自然科学版）》2010年第6期23-27,共5页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(60704004)

摘　　要：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,按照动力固定控制系统设计要求对模型进行简化,将浮桥系统分为可控部分和不可控部分,针对可控部分,通过系统状态反馈进行模型解耦研究,考虑混合灵敏度问题,设计H∞鲁棒控制系统.仿真结果表明,所设计的动力固定控制系统能够有效地保持浮桥的可控桥节横向稳定性,即保证整个浮桥的横向稳定性,同时有效地抑制外界干扰.As a novel method, dynamic positioning of floating bridge has superiority over conventional pontoon bridge techniques. The nonlinear mathematical model of dynamic positioning separated floating bridge is presented in this paper, where the floating bridge is taken into account as an entire sys- tem. Moreover, the control system model is derived in order to meet the needs of dynamic positioning. Dynamics of floating bridge are separated into two parts to meet the demands of control system design： the controlled dynamics and the uncontrolled dynamics. The controlled model is decoupled by using the system state feedback. And then, the H∞ robust control of controlled system is designed by considering the mixed-sensitivity problem. Simulation results show that the proposed method is effective. Then a conclusion is drawn that robust control system for floating bridge is effective to keep the longitudinal stability.

关 键 词：浮桥 动力学模型 动力固定 解耦系统 H∞控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] O313[自动化与计算机技术—控制科学与工程]