摘要
在被控对象为非方阵的系统中 ,由于求解控制器时涉及到矩阵求伪逆问题 ,很大程度上增加了闭环增益成形算法的难度 .考虑到此系统的闭环传递函数阵一定是奇异的 ,将闭环传递函数阵即补灵敏度函数设为奇异阵 ,设计出鲁棒控制器 .将闭环增益成形算法应用于舵阻摇系统 .通过观察、分析并比较各仿真曲线 ,可以看到 ,航向跟踪效果和减摇效果均较理想 .
It is difficult to design the closed loop gain shaping controller when the controlled plant is not a square matrix, because it is involved in the pseudo inverse of matrix. The closed loop transfer function matrix of such a system must be singular, so the closed loop transfer function should be assumed a singular matrix before the robust controller is designed. The closed loop gain shaping algorithm is applied to the rudder roll damping system. The simulating curves are analyzed and compared, and a conclusion can be drawn that the designed controller has good robustness and robust stability.
出处
《大连海事大学学报》
CAS
CSCD
北大核心
2001年第2期63-67,共5页
Journal of Dalian Maritime University
基金
高等学校博士学科点专项科研基金资助项目! ( 980 1 51 0 1 )
关键词
非方阵被控对象
闭环增益成形算法
舵阻摇系统
鲁棒控制器
应用
controlled plant with unsquare matrix
closed loop gain shaping
rudder roll damping system
robust controller
