基于干扰观测器的舵阻摇PID控制  

PID Control to Rudder Roll Damping Based on Disturbance Observer

作　　者：巩舒超[1] 宋立忠[1] 田英俊[1] 

机构地区：[1]海军工程大学,武汉430033

出　　处：《船电技术》2013年第7期23-26,共4页Marine Electric & Electronic Engineering

摘　　要：以船舶运动的横摇模型为研究对象,在常规PID控制器的基础上设计海浪干扰观测器,实现对海浪干扰的等效补偿,增强舵阻摇PID控制器的鲁棒性。仿真结果表明本文方法的有效性。Based on a ship roll movement liner dynamics model, a novel control strategy combing the traditional PID algorithm with the wave disturbance observer is designed The method can compensate the wave disturbance and enhance the robustness of the rudder roll damping controller. Simulation results prove the effectiveness of the proposed method.

关 键 词：干扰观测器 PID 舵阻摇 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]