摘要
给出了单输入多输出(SIMO)系统即被控对象为非方阵情况下的闭环增益成形控制算法。考虑到舵阻摇系统的闭环传递函数阵一定是奇异的,以及具有1个输入控制2个输出的特点,在保证其中1个输出尽量小而另1个输出跟踪输入的前提下,将闭环传递函数阵即补灵敏度函数阵设为具有一阶惯性的奇异阵,设计出鲁棒控制器。研究并建立舵阻摇系统的非线性模型,并在Matlab中通过编写S函数来实现。用设计好的控制器对非线性模型进行仿真,运用Simulink工具箱得到仿真曲线,从仿真曲线可看出此控制器具有良好的鲁棒性能。通过分析并比较阻摇前和阻摇后的各组仿真曲线,算出减摇率在50%左右,减摇效果较好。
The control algorithm of closed-Loop gain shaping when the controlled plant is not square matrix in the SIMO system is developed. Considering that the closed-Loop transfer function matrix of rudder roll damping system is certainly singular and single input controls two outputs in the system, the closed-Loop transfer function is assumed to be a singular matrix of first-order inertia components, then the controller is to be designed. The nonlinear mathematical model of rudder roll damping system is constructed and is realized by compiling S function in Matlab. The designed controller is applied to simulate the nonlinear model and then simulation curves are obtained by Simulink tool box. Through comparing the simulation curves with and without damping the calculated roll reduction rate can reach about 50%.
出处
《中国航海》
CSCD
北大核心
2004年第2期20-24,共5页
Navigation of China
