不对称信息理论在船舶运动控制中的应用

Unsymmetric Information Theory and Its Application in Ship Motion Control

本文介绍了不对称信息理论,并针对舵阻摇控制系统,通过简化鲁棒控制算法和改进舵机执行机构性能,增加信息的传递量,在提高系统鲁棒性能的基础上,使该算法成为实际工程上可用的算法。闭环增益成形算法采用闭环系统中具有工程意义的参数直接构造出鲁棒控制器,其设计过程简单,且物理意义明晰。从仿真结果可以看出:当信息传递充分时,航向保持效果大大改善,打舵的频率和幅值明显降低,同时也较为节能。

Unsymmetric information theory is introduced in this paper. For a rudder roll-damping control system, the information transmitting capacity is strengthened through simplifying robust control algorithm and improving the performance of rudder servo system. The algorithm is applicable in engineering. The closed-loop gain shaping algorithm constructs the robust controller directly using parameters having engineering sense. The algorithm guarantees fundamentally that the designed controller has fine control performance and robustness. The algorithm has the advantages of simple design procedure and obvious physical meaning. From the simulation results it follows that the course-keeping performance is improved greatly and the frequency and amplitude of rudder angle are also reduced and energy is saved when the information transmitting is full.