摘要
研究了船舶舵减横摇鲁棒控制系统设计问题。根据船舶运动和流体力学原理,指出了舵上产生的横摇力矩及船舶航向(艏摇)与横摇的分频特性,是舵-航向/横摇综合控制技术的基础。提出广义输出干扰的概念,将舵减横摇控制系统广义对象的奇异控制问题转化为非奇异标准控制问题,给出了艏摇/横摇耦合运动的线性分式变换模型和广义对象状态空间实现,设计了舵减横摇H∞鲁棒控制系统,并用结构奇异值理论对所设计的系统进行了鲁棒稳定性和鲁棒性能分析。通过数字仿真,证明所设计的控制系统具有良好的减摇控制效果和鲁棒性。
The problem of ship rudder roll damping robust control is studied in this paper. According to the principle of ship movement and hydromechanics, it is pointed out that the roll moment produead by rudder and the characteristic of different frequency between yaw and roll are the bose of rudder-yaw/roll synthetical control technology. By introducing the conception of generalized output disturbance, the singular control of generalized object of rudder roll damping control system is converted to nonsingular normal control. The linear fraction transform model of yaw/roll coupling movement and the realization of generalized object state space are given. The rudder roll damping H^∞ robust control system is designed, and using the structured singular value theory the robust stability and robust performance of the system are analyzed. Digital simulation proves that the system has good roll damping control efficiency and robust performance.
出处
《中国造船》
EI
CSCD
北大核心
2007年第3期35-43,共9页
Shipbuilding of China
关键词
船舶
舰船工程
舵减横摇
H^∞
鲁棒控制
数字仿真
ship engineering
rudder roll damping
H^∞ robust control
digital simulation
