鳍/舵减摇双重控制的H_∞设计  

H_∞ dual control design for fin/rudder ship roll stabilization

作　　者：刘彦文[1] 王广雄[2] 李栋良 

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]哈尔滨工业大学航天学院,黑龙江哈尔滨150001

出　　处：《电机与控制学报》2013年第1期102-107,113,共7页Electric Machines and Control

基　　金：国家自然科学基金(61073181);黑龙江省博士后科研启动金(LBH-Q09126);中央高校基本科研业务费专项资金(HEUCF041219)

摘　　要：针对具有两个不同执行机构,而且两个控制通道的动态特性也不一样的双重控制问题,提出了这类系统的设计方法并应用于用鳍和舵来减摇的系统。对这种合成控制进行了设计。指出两个回路的Nyquist曲线应在船的自然频率上都做到零相移,这样舵和减摇鳍的响应才有可能叠加以增强减摇效果。为此提出用H∞控制来保证零相移,并采用灵敏度函数作为系统的性能指标。详细讨论了H∞设计中的权函数选择问题。给出了鳍/舵合成减摇系统的仿真结果,仿真中还考虑了舵伺服系统速率限制对减摇的影响。A design method was proposed for dual control with application to the roll stabilization by using fins and the rudder. Dual control refers to a single output system with two different actuators. The dynam- ics of the control channel is also different from each other. An integrated control design was proposed. It is suggested that the phase shift of the Nyquist locus of each loop at the ship＇ s natural roll frequency must be kept at zero, so that the responses of the rudder and the stabilizing fins can be added together to en- hance the roll reduction. An H∞ control design was used to meet the zero-phase-shift demand. The sensi- tivity function was used as the performance property of the system. The selection of the weighting func- tions in the H∞ design were discussed in detail. Simulation results of the integrated fin and rudder stabili- zation system are given. The effect of the rate limitation of the rudder servo on the roll reduction is also shown in the simulation.

关 键 词：减摇 减摇鳍 舵减摇 合成控制 H∞设计 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]