摘要
针对非线性船舶航向保持系统,给出一种基于精确反馈线性化和闭环增益成形算法的非线性鲁棒PID控制器,该非线性PID控制器由非线性函数项和鲁棒PID控制器组成。另外,还给出一种完全基于闭环增益成形算法的非线性鲁棒PID控制器,其包含了具有定时功能的开关元件,两种非线性PID控制器在提高系统鲁棒性能的基础上,简化了控制器设计,从仿真结果可以看出,航向保持效果良好。
For a nonlinear course keeping system for ships, a kind of nonlinear robust PID is presented, which is based on an exact feedback linearization and a closed-loop gain shaping algorithm. The nonlinear PID controller is constituted of a nonlinear items with a robust PID controller. Another nonlinear robust PID controller is wholly based on closed-loop gain shaping algorithm, which includes a nonlinear switching component with a timer. The algorithms improve the robustness of the system and simplify the design of controller, the simulation results show that the course- keeping performance is improved well.
出处
《黑龙江大学自然科学学报》
CAS
北大核心
2005年第5期605-609,共5页
Journal of Natural Science of Heilongjiang University
基金
国家自然科学基金资助项目(60474014)
国家博士点基金资助项目(20040151007)
交通部基础研究资助项目(200432922504)