水翼艇纵向运动多变量随机最优控制仿真  

Multivariable Stochastic Optimal Control and Simulation of the Longitudinal

作　　者：赵希人[1] 叶葵[1] 陈虹丽[1] 彭秀艳[1] 

机构地区：[1]哈尔滨工程大学自动化学院,150001

出　　处：《船舶工程》2003年第4期38-42,共5页Ship Engineering

摘　　要：基于随机控制理论 ,针对全浸式水翼艇的多变量随机控制方法进行探讨 ,并着重分析水翼艇的纵向运动姿态的随机最优控制。首先 ,依据动力学原理对其运动方程的建立和线性化进行了推导。其次 ,利用线性卡尔曼滤波器对其纵向运动姿态进行估计 ,依据LQG性能指标构造了最优控制规律。通过施加控制前后状态的比较 ,可以看出 ,应用随机最优控制的方法 。In this paper,based on the theories of stochastic control,we make a study of multivariable stochastic control methods of hydrofoil and emphasize on the analysis of longitudinal motion of it.At first,the movement equation of hydrofoil and its linearization are deduced from the theories of dynamics.Then the pose of longitudinal motion is estimated by linear Kalman filter.Finally,an optimal control rule is constructed by LQG performance index.Its simulation shows that the stochastic optimal control on hydrofoil has a good effect by comparing the results of without control and under control.

关 键 词：水翼艇 纵向运动 多变量随机最优控制 仿真 线性卡尔曼滤波器 船舶 

分 类 号：U674.944[交通运输工程—船舶及航道工程]