格网坐标系下自适应反馈增益阻尼方法  

Adaptive feedback gain damping method in grid coordinates

作　　者：奔粤阳[1] 张瀚轩 崔文婷 尹冬寒 BEN Yueyang;ZHANG Hanxuan;CUI Wenting;YIN Donghan(College of Automation,Harbin Engineering University,Harbin 150001,China;The 708 Research Institute of China State Shipbuilding Corporation,Shanghai 201100,China)

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001 [2]中国船舶工业集团公司第七〇八研究所,上海201100

出　　处：《中国惯性技术学报》2020年第3期309-315,共7页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金项目(51979047);国防基础科研项目(JCKY2019604D003);高技术船舶项目(MC-201919-C11)。

摘　　要：针对格网坐标系下传统阻尼网络参数选择的复杂性和固定性的问题,以及考虑到外速度阻尼时外界速度的有效性,提出了一种自适应反馈增益阻尼方法。首先,设计了一种新的反馈增益阻尼回路。再引入自适应滤波评估外速度信息,从而实时求解阻尼回路反馈增益,使反馈增益具有自适应性,实现阻尼系统周期震荡误差的同时抑制系统超调。最后仿真实验表明,所提出的自适应反馈增益阻尼方法加快了惯导系统误差的收敛速度,能够自主进行不同阻尼状态间的优化切换,而且比传统外速度水平阻尼误差超调量减小了15%,提高了舰船在极区航行时的导航性能。In view of the complexity and fixity of the parameter selection of the traditional damped network in the grid coordinate system,and considering the effectiveness of the external velocity when the external velocity is damped,an adaptive feedback gain damping method is proposed.Firstly,a new feedback gain damping loop is designed.Then adaptive filtering is introduced to evaluate the external speed information so as to solve the feedback gain of the damping loop in real time and make the feedback gain adaptive,and the periodical oscillation error of the damping system can be realized while the system overshoot can be suppressed.Finally,the simulation results show that the proposed adaptive feedback gain damping method can accelerate the convergence speed of navigation system errors and can autonomously optimize the switching between different damping states,which is 15%less than the traditional external speed horizontal damping error overshoot.The proposed method improves the navigation performance of the ship in the polar region.

关 键 词：格网机械编排 极区阻尼 输出反馈 反馈增益 阻尼比 

分 类 号：U666.1[交通运输工程—船舶及航道工程]