摘要
由于船舶航行时,受到海浪、海风、海流等随机扰动的影响,这些扰动以海浪引起的横摇运动最为显著,却无法直接测量.船舶的装载状态和船速的变化,使船舶运动的数学模型存在参数不确定性,在考虑前两种情况下,建立船舶横摇随机系统的不确定数学模型,设计鲁棒滤波器,利用李雅普诺夫稳定性理论推导出使系统均方渐近稳定且满足鲁棒H∞性能的滤波器存在的充分条件,通过标准数值软件进行求解及仿真,验证所采用方法的有效性及可行性.
When the ship sailing,the rolling caused by the sea wave is the most significant and can＇t be directly measured.Due to the changes of the loaded condition and speed of the ship,the mathematical model of the ship is uncertain.Aimed at the above cases,the paper establishes the stochastic uncertain mathematical model for ship rolling system,designs robust filter,and deduces sufficient conditions of the existence of filter with Lyapunov stability theory.At last,we get filter parameters by utilizing standard digital software.The feasibility of the methods of design filter is demonstrated by numerical examples.
出处
《西南大学学报（自然科学版）》
CAS
CSCD
北大核心
2016年第6期153-158,共6页
Journal of Southwest University(Natural Science Edition)
基金
国家自然科学基金资助项目(51167002)
广西高校科学技术研究项目(2013YB261)
广西高校临海机械装备设计制造及控制重点实验室培育基地主任课题基金资助项目(GXLH2014YB-01)
