船舶减摇鳍闭环成形滤波L2增益鲁棒控制  

Ship-fin roll stabilizer design based on closed loop-shaping filter and robust L2 gain control

作　　者：关巍[1,2] 李翔 任志浩[2] 孙静海 张显库 GUAN Wei;LI Xiang;REN Zhihao;SUN Jinghai;ZHANG Xianku(Navigation College,Dalian Maritime University,Dalian 116026,China;State Key Laboratory of Coastal and Offshore Engineering,Dalian University of Technology,Dalian 116023,China)

机构地区：[1]大连海事大学航海学院,辽宁大连116026 [2]大连理工大学海岸和近海工程国家重点实验室,辽宁大连116023

出　　处：《哈尔滨工程大学学报》2019年第12期1965-1972,共8页Journal of Harbin Engineering University

基　　金：国家自然科学基金项目(51409033,51679024);中央高校基本科研业务费(3132016315);辽宁省自然科学基金项目(201602093)

摘　　要：针对船舶横摇运动存在不确定参数摄动,模型误差和海浪强外界干扰等问题,提出了一种基于闭环成形滤波方法的船舶减摇鳍L 2增益鲁棒控制器设计方案。通过闭环成形滤波器的引入对系统模型的不确定参数摄动进行有效补偿控制。同时外界干扰也通过L 2增益鲁棒控制器设计方法进行了抑制,Lyapunov函数的引入更是在整个控制器设计过程中保证了控制器设计的稳定性。最后通过对育鲲轮在规则波与多向不规则波下的仿真对比实验结果表明:该减摇鳍控制方案具有结构简单,参数物理明确,易于实现,鲁棒性强和控制性能良好等优点,可在充分考虑系统鲁棒性和控制性能的条件下简化船舶减摇鳍控制器设计方案和控制器结构。To address the problems of uncertain perturbations,model error,and the strong external disturbances of sea waves in the ship-roll motion,we propose a robust fin controller based on a closed loop-shaping filter and a robust L 2 gain-controller design scheme.We introduce the closed loop-shaping filter to effectively compensate for uncertain parameter perturbations of the system model and we suppress external interference using the robust L 2 gain-controller design method.The introduction of the Lyapunov function ensures stability of the proposed controller throughout the controller design process.Lastly,the fin-roll-stabilization simulation results for the Yukun training ship in regular and multi-direction irregular waves show that the fin-stabilizer control scheme has the advantages of a concise structure,distinctive physical parameters,easy implementation,strong robustness,and superior control performance.Therefore,with a full consideration of the system robustness and control performance,the proposed ship-fin roll-stabilizer design scheme can simplify the controller structure and design procedure.

关 键 词：船舶控制 闭环成形滤波 减摇鳍 L 2增益 鲁棒控制 稳定性理论 不规则波 反步法 

分 类 号：U664.7[交通运输工程—船舶及航道工程]