船舶航向控制器设计与仿真

详细论述了船舶航向控制器的设计与仿真.首先,在MATLAB的Simulink环境中构建船舶航向控制系统的仿真模型,然后通过仿真分析来确定航向控制器的关键参数,最后进行调试.     

船舶航向模型参考模糊自适应控制器的设计

本文介绍了模型模糊自适应控制器的结构，调节机理。针对船舶航向控制，设计了参考模型模糊自适应控制器，并进行了仿真。与普通模糊控制器控制效果进行了比较，仿真表明参考模型模糊自适应控制有良好的控制性能。     

基于QFT的船舶航向控制器设计与仿真研究

论述了基于定量反馈理论（QFT）的船舶航向控制器的设计方法。该方法不仅能保证闭环系统有较强的鲁棒性,还具有良好的动静态特性,特别是在系统的快速性方面较其它设计方法有较大的改善和提高。基于MATLAB的仿真实验表明运用该方法所设计的控制器具有较强的鲁棒性和自适应能力,满足性能指标的要求,具有较高的工程应用价值。     

基于离散模糊多模型的船舶航向控制器设计

应用模糊控制系统探讨船舶航向控制器设计问题.建立船舶航向控制系统的离散T-S模糊模型,并基于输入采用双交叠模糊分划的模糊控制系统的性质,通过在最大交叠规则组中构造分段离散型Lyapunov函数,提出一个新的判定闭环离散T-S模糊控制系统稳定性的充分条件,该条件仅需在每个最大交叠规则组中分别寻找各自公共的正定矩阵.较之以往稳定性判定方法,所提出的方法不仅克服了需要寻找一个公共矩阵的不足,而且也大大减少了求解Lyapunov不等式的个数.应用并行分布补偿方法(PDC)设计一种船舶航向离散模糊控制器.仿真例子验证了此方法的有效性和优越性.     

广义预测船舶航向控制

提出了基于广义预测的船舶航向保持和转向控制算法，其中控制参数可根据智能规则自动调整，仿真结果验证了算法的有效性。     

基于GA和H∞混合优化的船舶航向控制器设计新方法

提出一种ＧＡ和Ｈ∞混合优化的船舶航向控制器设计新方法,该方法采用Ｈ∞环路成形技术设计船舶航向控制器,成形权函数采用遗传算法进行优化,从而避免了凭试验凑权函数的盲目性,使控制器的设计系统化,且简单易行。仿真结果表明了该设计方法的有效性。     

基于Backstepping 的非线性系统预设性能鲁棒控制器设计

针对一类具有外界扰动的严格反馈非线性系统,将Backstepping技术、预设性能控制和鲁棒控制相结合,提出一种预设性能鲁棒控制器设计方法.通过误差转换,建立系统等效误差模型,利用Backstepping和鲁棒控制逐步递推选择适当的Lyapunov函数设计预设性能鲁棒控制器.该控制策略兼顾系统的暂态和稳态性能,仿真实例表明了所提出设计方法的有效性.     

基于Backstepping设计的不确定非线性系统的预测控制

本文的目的是针对一类带有不确定性的单输入单输出的仿射非线性系统,设计一种非线性预测控制器.用反步设计思想获得具有待定参数的控制器表达式,然后用预测控制在线优化获得控制器的参数.用这种方法设计的控制器更易使闭环系统稳定,且闭环系统具有良好的动态特性.连续发酵过程的仿真结果也验证了控制器是有效的.     

船舶航向非线性系统的多滑模自适应模糊控制

针对参数未知的船舶航向非线性控制系统数学模型,在考虑舵机伺服机构特性的情况下,船舶航向控制问题就成为一个虚拟控制系数未知的非匹配不确定非线性控制问题.基于多滑模设计方法和模糊逻辑系统的逼近能力,提出了一种多滑模自适应模糊控制算法,通过引入非连续投影算法和积分型Lyapunov函数,提高了系统在抑制参数漂移、控制器奇异等方面的能力.借助Lyapunov函数证明了所设计控制器使最终的闭环非匹配不确定船舶运动非线性系统中的所有信号有界,且跟踪误差收敛到零.仿真研究表明:该算法与传统的PID控制相比,具有较好的跟踪能力和自适应能力.     

船舶航向的鲁棒自适应控制器的设计和仿真

针对带参数不确定性,未知有界扰动及未建模动态的船舶航向跟踪控制问题,本文介绍了一种鲁棒自适应算法。此算法能保证系统的全局稳定,使闭环系统的所有变量一致有界。并通过仿真对两种算法进行比较,可以看出,依照本文算法设计的控制器具有很好的鲁棒性。     

Design of Nonlinear Decoupling Controller for Double-electromagnet Suspension System

Aiming at the coupling characteristic between the two groups of electromagnets embedded in the module of the maglev train, a nonlinear decoupling controller is designed. The module is modeled as a double-electromagnet system, and based on some reasonable assumptions its nonlinear mathematical model, a MIMO coupling system, is derived. To realize the linearization and decoupling from the input to the output, the model is linearized exactly by means of feedback linearization, and an equivalent linear decoupling model is obtained. Based on the linear model, a nonlinear suspension controller is designed using state feedback. Simulations and experiments show that the controller can effectually solve the coupling problem in double-electromagnet suspension system.     

双电磁铁悬浮系统的非线性解耦控制器设计

Aiming at the coupling characteristic between the two groups of electromagnets embedded in the module of the maglev train, a nonlinear decoupling controller is designed. The module is modeled as a double-electromagnet system, and based on some reasonable assumptions its nonlinear mathematical model, a MIMO coupling system, is derived. To realize the linearization and decoupling from the input to the output, the model is linearized exactly by means of feedback linearization, andan equivalent linear decoupling model is obtained. Based on the linear model, a nonlinear suspension controller is designed using state feedback. Simulations and experiments show that the controller can effectually solve the coupling problem in double-electromagnet suspension system.     

基于反步设计的构造性非线性预测控制算法

针对具有状态和输入约束的严格反馈非线性系统,提出一种反步设计构造性非线性预测控制算法.利用反步设计法离线构造系统的控制李亚普诺夫函数,进而得到系统的镇定可调控制器即稳定控制类.基于性能指标,滚动优化控制器可调参数,计算满足系统约束的预测控制量.进一步,运用控制李亚普诺大函数的性质建立闭环系统的稳定性.最后,应用轮式移动机器人的优化控制验证本文结果的有效性.     

随机非线性系统鲁棒自适应反馈控制器的积分反推方法设计

考虑了一类随机非线性系统的鲁棒自适应控制问题.采用Ito随机微分方程描述系统,进而在概率意义下研究系统的鲁棒稳定性.应用积分反推(backstepping)方法,系统地给出了设计状态反馈及输出反馈鲁棒自适应控制器的方法.同时构造出了适当形式的四次型的自适应控制Lyapunov函数(CLF).     

Quad-Rotor Directional Steering System Controller Design Using Gravitational Search Optimization

Directional Steering System (DSS) has been established for well drilling in the oilfield in order to accomplish high reservoir productivity and to improve accessibility of oil reservoirs in complex locations. In this paper, a novel feedback linearization controller to cancel the nonlinear dynamics of a DSS is proposed. The proposed controller design problem is formulated as an optimization problem for optimal settings of the controller feedback gains. Gravitational Search Algorithm (GSA) is developed to search for optimal settings of the proposed controller. The objective function considered is to minimize the tracking error and drilling efforts. In this study, the DSS considered has 4 downhole motors. The robustness of the proposed GSA-based approach for the controller design is demonstrated. The simulation results of the considered 4-rotor DSS is presented and the effectiveness of the proposed controller is confirmed.     

非线性船舶动力定位系统反步控制器设计

针对船舶动力定位系统中数学模型具有耦合、非线性、不稳定等特点,设计了一种基于反步法的非线性输出反馈控制器。首先,采用反步法原理引进位置误差和速度误差并定义了两个子系统的虚拟控制状态向量,结合供给船舶模型建立的非线性数学模型,提出了船舶非线性动力定位系统的控制算法,设计了输出反馈控制器。然后,通过李雅普诺夫(Lyapunov)稳定性理论验证了所设计的控制器具有全局渐近稳定性。最后,针对定位性能和轨迹跟踪性能做了仿真分析,验证了该控制方法的有效性。     

Robust Nonlinear Observer And Observer‐Backstepping Control Design For Surface Ships

A robust passive non‐linear observer, utilizing the sliding mode concept and acceleration feedback (AFB) technique, is developed for ships. The main advantage of the proposed observer is that it is robust and that it takes the Coriolis‐centripetal matrix (C‐matrix) into account. The observer reconstructs velocities of ships and bias from slowly varying environmental disturbances. It also filters out the noise and wave frequency data from measurements to protect the actuators from wear and excessive fuel consumption. The sliding mode technique is introduced to improve robust performance against neglected disturbances, uncertainties, and unmodeled dynamics. The acceleration feedback technique and coordinate transformation are used for reshaping the inertia matrix and removing the C‐matrix from the mathematical model. Then, the observer design and stability analysis become simpler. An output feedback controller using observer backstepping and the Lyapunov redesign technique is derived, and the global stability of the observer and observer‐controller system is shown by Lyapunov stability theory. A set of simulations was carried out to verify the performance of the proposed observer and controller.     

带有未建模动态的船舶减摇鳍的鲁棒自适应控制

针对船舶减摇鳍非线性数学模型,提出一种鲁棒自适应控制器,可以用于存在非线性不确定、未知有界扰动和未建模动态的情况。应用Lyapunov稳定性理论证明,所提出的鲁棒自适应控制器可保证整个非线性系统的稳定性,且通过适当选择设计参数,可使跟踪误差达到任意精度。仿真结果表明了所提方法的有效性。     

非匹配不确定非线性系统的自适应反演滑模控制

针对一类具有非匹配不确定性的最小相位仿射非线性系统,研究其在未知扰动作用下的调节问题。基于自适应反演设计方法和变结构控制设计了控制方案,实现不确定系统的鲁棒调节。与经典反演设计相比,本方案允许非参数化不确定性,增强了控制系统的鲁棒性。