闭环增益成形算法在船舶自动舵中的应用  

Application of the Closed Loop Gain Shaping Algorithm to the Marine Autopilot

作　　者：张显库[1] 贾欣乐[1] 

机构地区：[1]大连海事大学,大连116026

出　　处：《中国航海》1999年第2期89-93,共5页Navigation of China

基　　金：高等学校博士学科点专项科研基金

摘　　要：根据船舶自动舵闭环频谱要求，给出一种新的基于闭环增益成形的控制算法，新算法从设计的根本上保证控制器具有良好的控制性能和鲁棒性能，从理论上可推出船舶航向ＰＤ控制是新算法的特例，新算法设计过程简单。According to the requirements of the closed loop frequency spectrum of the marine autopilot,a new control algorithm based on the closed loop gain shaping is presented.It guarantees fundamentally that the designed controller has fine control performance and robustness.The PD course controlling for ships is a special case of the new algorithm.It has the advantages of simple design procedure and obvious physical sense.

关 键 词：船舶 自动舵 闭环增益成形 算法 鲁棒性 

分 类 号：U666.153[交通运输工程—船舶及航道工程]