摘要
根据减摇鳍系统的非线性数学模型,设计了一种具有鲁棒性的非线性控制器。通过采用精确反馈线性化方法将减摇鳍系统的非线性模型线性化,然后用闭环增益成形算法设计出非线性鲁棒控制器。用Matlab的Simulink工具箱分别对相同海况下未进行减摇控制、已设定航速及航速减半状态时采用减摇鳍控制的非线性数学模型进行仿真。仿真结果表明,该控制策略对于减摇鳍非线性控制系统是十分有效的,特别是鲁棒性能令人满意。算法的设计过程简单,物理意义明显。
According to the nonlinear mathematical model of fin stabilizer system, a nonlinear robust controller has been designed. The nonlinear mathematical model of fin stabilizer system is linearized through exact feedback linearization, then the nonlinear robust controller is designed by using closed-loop gain shaping algorithm. The nonlinear model has been simulated in the cases without roll stabilizer and with fin stabilizer at a given ship speed or half of the given speed under same sea state with Simulink of Matlab tool box, respectively. The simulation results show that the control effects are very effective, especially it has very satisfactory robust stability. The algorithm given in the paper has the marits of design procedure simpicity and clarified physical meanings.
出处
《中国航海》
CSCD
北大核心
2007年第4期5-8,共4页
Navigation of China
基金
国家973项目(2002CB312103)
国家自然科学基金项目(60504017)
关键词
船舶
舰船工程
减摇鳍
非线性鲁棒控制
精确反馈线性化
闭环增益成形
Ship, Naval engineering
Fin stabilizer
Nonlinear robust control
Exact feedback linearization
Closed-loop gain shaping
作者简介
王新屏（1978-），女，黑龙江牡丹江市人，博士生，主要研究交通信息工程及控制、非线性控制、鲁棒控制。E-mail：wangxp@newmail．dlmu．edu．cn
