基于非线性反馈的水翼艇纵向运动鲁棒控制  

Robust Control of Longitudinal Motion for Hydrofoils Based on Nonlinear Feedback

作　　者：张显库[1] 

机构地区：[1]大连海事大学航海学院,辽宁大连116026

出　　处：《中国航海》2016年第1期60-63,73,共5页Navigation of China

基　　金：国家自然科学基金(51109020);中央高校基本科研业务费专项资金(3132014302)

摘　　要：为提高水翼艇纵向运动控制的鲁棒性和节能效果,在保持已有的多输入多输出(Multiple-Input Multipe-Output,MIMO)鲁棒控制器不变的基础上,引入正弦函数驱动的非线性反馈代替原有的误差线性反馈。仿真结果表明:在模型摄动时,鲁棒控制器主要改进纵摇效果,而非线性反馈控制能同时改进升沉和纵摇效果,控制效果比鲁棒控制器提升70%以上,控制能量比鲁棒控制器节省90%以上。简单的理论分析和仿真研究结果表明:正弦函数驱动的非线性反馈对于MIMO系统的控制同样适用。Abstract： In order to improve the robustness of the longitudinal motion control for hydrofoils and the energy consumption, a nonlinear sine function modulated error signal is introduced to replace the original linear error feedback while keeping the construction of the Multiple-Input Muhiple-Output （MIMO） robust controller unchanged. The simulation results show that under given perturbations, the original robust controller mainly improves the pitch damping effect, in contrast, the nonlin- ear feedback controller decreases the heave and pitch simultaneously. Tests indicate that over 70% of control effect im- provement with over 90% energy saving is achieved by introducing the nonlinear feedback.

关 键 词：水路运输 船舶运动控制 水翼艇 非线性反馈 鲁棒控制 闭环增益成形 

分 类 号：U664.82[交通运输工程—船舶及航道工程]