摘要
研究基于状态反馈H∞算法的高速水翼双体船在波浪中运动的姿态控制器的设计。首先对水翼双体船运动的非线性数学模型在平衡点线性化,建立水翼双体船的线性模型;然后应用状态反馈H∞算法设计水翼双体船的姿态控制器;最后利用Matlab的Simulnk工具箱,以高速水翼双体船HC200B A1为例进行仿真研究,结果表明该控制器设计能够有效地减少波浪引起的不利船体摇荡,使得船体在波浪中保持在预定的姿态。在同样参数条件下,对状态反馈H∞控制器与线性二次型调节器(LQR)设计的控制效果进行比较,显示前者的控制效果要优于后者。
The design of the attitude controller of fully-submerged hydrofoil catamaran in waves is studied, based on state-feedback H_∞ algorithm. First, the linearization of nonlinear mathematical model of motion at equilibrium point, i.e. at design speed, is carried out and then linear model is established, in consideration of the influence of exogenous disturbances. Second, the state-feedback H_∞ control algorithm is employed to design attitude controller, in order to keep boat with an expected attitude. The simulation test on hydrofoil catamaran HC200B-A1 shows that the designed controller can reduce unfavorable motions in waves effectively. Compared with linear quadratic regulator(LQR) design having the same parameters, H_∞ attitude controller's performance is better.
出处
《中国航海》
CSCD
北大核心
2004年第2期29-32,77,共5页
Navigation of China
关键词
状态反馈H∞算法
高速水翼双体船
姿态控制器
设计
线性模型
仿真
Ship, Navy vessel engineering
Hydrofoil catamaran
State-feedback H_∞ algorithm
Linear model
Attitude controller
Linear quadratic regulator(LQR)
