摘要
为提高控制器的鲁棒性能,针对非线性船舶航向保持系统,将简化的逆推算法与闭环增益成形算法相结合,设计出非线性鲁棒控制器.以大连海事大学实习船“育鲲”号为例进行仿真.结果表明,该算法能够使船舶无超调无静差地跟踪设定航向,调节时间为200 s,控制效果良好,且控制器对模型摄动具有一定的鲁棒性.该算法设计过程简单,物理意义明显.
A simplified nonlinear robust control algorithm was presented so as to improve the robustness of the designed controller for a nonlinear course-keeping system for ships through simplifying backstepping algorithm, which connected the backstepping algorithm with the closed-loop gain shaping algorithm. The simulating research was carried out on the training ship ＂Yu kun＂ of Dalian Maritime University as an example. The simulation results show that the ship can keep the set course without overshoot and steady state error, the regulating time is 200 s and the course-keeping performance is improved. The controller has good robustness to the model perturbation. The algorithm given in the paper has the advantages of simple design procedure and obvious physical sense.
出处
《大连海事大学学报》
EI
CAS
CSCD
北大核心
2007年第2期80-83,共4页
Journal of Dalian Maritime University
基金
国家自然科学基金资助项目(60474014)
关键词
船舶航向
航向保持
非线性系统
鲁棒控制
逆推算法
ship＇ s course
course-keeping
nonlinear system
robust control
backstepping algorithm
