船舶航向/横摇鲁棒控制研究

高海情下,船舶航向/横摇运动凸显出强耦合、不确定的特性,传统的PID控制存在适应性差的不足;此外,舵在控制航向的同时还具有减横摇的作用,合理的减摇鳍动作也对航向控制有利.为改善船舶航向、横摇控制效果,研究船舶航向/横摇耦合运动不确定模型,采用基于线性矩阵不等式的鲁棒控制器设计理论,对船舶航向/横摇联合控制问题进行研究,并设计和求解控制器.仿真结果表明,高海情下船舶航向/横摇联合鲁棒控制比传统PID控制提高了约20%的航向和横摇控制精度.

Research on ship course/roll robust control

Under high sea situation,for the ship course and roll motion' s characteristics of strong coupling and uncertainty,the traditional PID control is lack of good adaptability. Besides course -control,rudder also has the function of the anti-rolling,for reasonable fin action is also beneficial to course-control. In order to improve the effect of ship course and roll control,we researched the uncertain model' s ship course and roll coupling. We used robust controller theory based on linear matrix inequality (LMI) to research ship course and roll coupling,to design and to solve the controller. The simulation results show that the course and control precision of robust controller in ship course and roll coupling under high sea situation is about 20% higher than those of the traditional PID control system.