摘要
为了改善具有大惯性的船舶航向保持效果,在简捷鲁棒控制的比例部分加上一个正数,通过对系统的稳态和动态性能的理论分析,该方法在不改变系统的稳态性能的基础上改善了系统的动态性能。针对"育龙"轮进行了系统仿真,系统的调节时间由原来的700 s下降为100 s,结果验证了本方法的有效性。
In order to improve course keeping effectiveness of the ships with large inertia,a positive number is added to the proportional part of a simple robust control.Through theoretical analysis of steady and dynamic states of the system,it is proved that the method can reduce the settling time without changing its steady state.Simulation experiment on ship YULONG shows that the settling time is reduced to 100 s from 700 s with this method.
出处
《中国航海》
CSCD
北大核心
2010年第3期1-5,共5页
Navigation of China
基金
国家自然科学基金项目(50979009
60974013)
教育部博士点基金(200801510002)
国家973子项目(2009CB320805)
关键词
船舶、舰船工程
闭环增益成形
航向保持
鲁棒控制
ship
naval engineering
closed-loop gain shaping
course keeping
robust control
