规则纵浪中船舶参数激励横摇运动的鲁棒控制  

The Robust Control of Ship Parametric Rolling in Regular Longitudinal Waves

作　　者：马磊[1,2] 张显库[1] 

机构地区：[1]大连海事大学航海动态仿真和控制实验室,辽宁大连116026 [2]山东海事局,山东青岛266002

出　　处：《中国航海》2012年第4期54-57,共4页Navigation of China

基　　金：国家自然科学基金项目(50979009);教育部博士点基金(200801510002);国家973子项目(2009CB320805)

摘　　要：为有效控制船舶在参数横摇运动中的失稳状态,根据规则纵浪中船舶参数横摇系统的非线性数学模型,设计了一种具有鲁棒性的非线性控制器。采用精确反馈线性化方法将纵浪中船舶参数横摇系统的非线性模型线性化,然后用闭环增益成形算法设计出非线性鲁棒控制器。在考虑不同的干扰和模型摄动情况后进行了仿真试验。仿真结果表明该控制策略对于船舶参数横摇系统十分有效,且鲁棒性能令人满意。算法的设计过程简单,物理意义明显。To control unstable states of ship parametric rolling effectively,a nonlinear robust controller is designed with a nonlinear mathematical model of ship parametric rolling system in regular longitudinal waves.This model is linearized by the exact feedback linearization method and the nonlinear robust controller is designed by using closed-loop gain shaping algorithm.Its simulation tests are carried out in consideration of different disturbances and model perturbation.Simulation results show that this control strategy is very effective for ship parametric rolling system and has satisfactory robust performance.The design process of the algorithm is simple and has obvious physical meanings.

关 键 词：水路运输 船舶参数横摇 非线性鲁棒控制 精确反馈线性化 闭环增益成形 

分 类 号：TP271.72[自动化与计算机技术—检测技术与自动化装置]