非方阵被控对象闭环增益成形算法及其应用  

Closed-loop gain shaping algorithm with unsquare matrix plant and its application

作　　者：张显库[1] 张丽坤[1] 贾欣乐[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

出　　处：《大连海事大学学报》2001年第2期63-67,共5页Journal of Dalian Maritime University

基　　金：高等学校博士学科点专项科研基金资助项目! ( 980 1 51 0 1 )

摘　　要：在被控对象为非方阵的系统中 ,由于求解控制器时涉及到矩阵求伪逆问题 ,很大程度上增加了闭环增益成形算法的难度 .考虑到此系统的闭环传递函数阵一定是奇异的 ,将闭环传递函数阵即补灵敏度函数设为奇异阵 ,设计出鲁棒控制器 .将闭环增益成形算法应用于舵阻摇系统 .通过观察、分析并比较各仿真曲线 ,可以看到 ,航向跟踪效果和减摇效果均较理想 .It is difficult to design the closed loop gain shaping controller when the controlled plant is not a square matrix, because it is involved in the pseudo inverse of matrix. The closed loop transfer function matrix of such a system must be singular, so the closed loop transfer function should be assumed a singular matrix before the robust controller is designed. The closed loop gain shaping algorithm is applied to the rudder roll damping system. The simulating curves are analyzed and compared, and a conclusion can be drawn that the designed controller has good robustness and robust stability.

关 键 词：非方阵被控对象 闭环增益成形算法 舵阻摇系统 鲁棒控制器 应用 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] U664.7[自动化与计算机技术—控制科学与工程]