基于输入状态线性化的船舶航迹系统鲁棒控制及仿真  

Straight-line Tracking Control of Ships Based on Input-state Linearization

作　　者：王震宇[1] 吴汉松[1] 吴瑶[1] 

机构地区：[1]海军工程大学电气与信息工程学院,武汉430033

出　　处：《船电技术》2012年第8期47-49,53,共4页Marine Electric & Electronic Engineering

摘　　要：本文将H∞闭环增益成形鲁棒控制与输入状态精确反馈线性化结合,针对船舶航迹控制系统的非线性数学模型,采用Nomoto船舶模型,给出了一种鲁棒控制器的设计方法。这种算法是对船舶航迹非线性系统进行输入—状态线性化的基础上,然后与闭环增益成形算法相结合而设计出来的控制律。以某船为对象,利用Matlab/Simulink工具箱对新的控制器进行数值仿真,结果表明该控制规律有比较理想的控制效果,在加入扰动后,该控制器能使船舶行驶在预设航迹上,对外界风浪干扰有较强的鲁棒性。In allusion to the nonlinear ship model and the Nomoto ship model, a robust controller for ship＇s tracking control system designed by using robust Hoo closed-loop gain shaping technique and the input-state feedback linearization technique is given in the paper. The controller is based on input-state feedback linearization technique, adding the losed-loop gain shaping technique. The simulation results based on the Matlab/ Simulink package show that the validity of the sufficient conditions, and the controller can track a desired course fast under uncertain conditions and accurately, exhibit strong robustness peculiarity to the uncertainties of nonlinear ship model.

关 键 词：船舶航迹控制 非线性系统 鲁棒性 闭环增益成形 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U664.36[自动化与计算机技术—控制科学与工程]