带约束的电罗经航向自适应模型H_∞估计算法

舰艇在航行时受到风、浪以及摇摆等外部干扰,使电罗经航向输出不稳而产生误差.当舰艇机动时此现象更为明显,而且航向输出滞后于舰艇实际航向.为减小该误差以提高机动后的电罗经指向精度,本文首先推导出电罗经主轴的标准运动方程,并将其作为理想的约束条件.其次,采用自适应四参数估计法对电罗经航向数据建立模型,并进行有效预测.最后将H∞估计理论与最速跟踪微分器结合在一起,通过Riccati方程构造出合适的H∞误差约束乘子,开发出实时的H∞约束估计算法.实测数据与计算结果的对比,表明该算法能够实现电罗经航向的稳定输出.

Constrained H-infinity estimation algorithm for the course-adaptive model of electromagnetic controlled gyrocompass

External interferences to the naval vessel in cruise, such as the wind, waves, swing and so on, bring about errors in course-indication of the electromagnetic controlled gyrocompass. These errors become more serious when the ship is in mobile actions. Moreover, the output of the electromagnetic controlled gyrocompass is not only volatile, but also in lag of time to the practical course. To reduce the course-error and improve the output accuracy of the electromagnetic controlled gyrocompass, we first derive the standard motion-equation for the principal axis of the electromagnetic controlled gyrocompass and consider it the ideal constraint. Secondly, we model the recorded field-data and predict it based on the self-adaptive four-parameter estimation method. Thirdly, we combine the H-infinity estimation theory with the steepesttracking-differentiator to determine an appropriate H-infinity error-estimation multiplier by solving the Riccati equation, and design the constrained H-infinity estimation algorithm. Finally, the comparison of the obtained result with the recorded field-data indicates that this algorithm is capable to provide a stable output.