船舶舵减横摇鲁棒H_∞控制研究  

Robust H_∞ Control of Rudder Roll Damping for Ships

作　　者：周柳明[1] 王玉龙[1] 

机构地区：[1]江苏科技大学电子信息学院,江苏镇江212003

出　　处：《控制工程》2016年第1期102-108,共7页Control Engineering of China

基　　金：国家自然科学基金(61374063;61403170);江苏省产学研前瞻性联合研究项目(BY2013066-01);2015年度江苏省第四期"333工程"科研资助项目(BRA2015358);江苏省"六大人才高峰"第十二批高层次人才选拔培养资助项目(DZXX-025);江苏省"青蓝工程"优秀青年骨干教师资助计划;江苏省"333工程"中青年科学技术带头人资助计划;江苏省高校优秀中青年教师境外研修计划

摘　　要：船舶在航行时,舵不仅能产生艏摇力矩,而且能够产生横摇力矩。根据艏摇和横摇运动对舵的分频响应现象,采用H?控制理论分别设计航向以及舵减摇控制系统,并通过研究加权函数的选取方法选择合适的系统加权函数,从而抑制外部干扰和精确跟踪设定航向。针对系统的外部海浪干扰,将海浪干扰模型和系统模型组成新的扩展系统,利用卡尔曼滤波方法对系统状态进行最优估计,进一步减小海浪干扰对船舶的影响。仿真结果表明该控制系统具有良好的鲁棒性,能有效抑制海浪的干扰,对航向、横摇的控制效果良好。When ships sail in the sea, the rudder yields not only the yawing moment of force, but also the rolling moment of force. Adopting the fractional frequency of the rudder angle with respect to the yawing angle and rolling angle, and using the H∞ control theory, this paper is concerned with the design of the heading control system and the roll damping control system for ships. Appropriate weighting functions are chosen to inhibit the influences of external disturbances and guarantee the effects of heading control. For the systems considering external disturbances induced by waves, the wave reference model and the system model are combined together to establish a new augmented system, and the Kalman filtering method is adopted to optimally estimate the states of the system, and the disturbances of waves are further reduced. The simulation results illustrate that the designed control system shows good robust performance, the disturbances of waves are inhibited greatly, and the effects for heading control and roll damping are also satisfactory.

关 键 词：航向 减摇 线性矩阵不等式(LMI) 权函数 卡尔曼滤波器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]