摘要
现有的船舶航向保持器的设计大都采用Nomoto线性模型,而忽略了船舶操纵运动的非线性因素,因此航向控制的精度比较低。选择状态反馈精确线性化方法,将响应型船舶运动的非线性数学模型进行线性化,再利用基于闭环增益成形算法的鲁棒控制器进行控制,然后在Matlab的Simulink下进行系统仿真,仿真结果表明,所设计的基于闭环增益成形算法的控制器比基于LQR的控制器具有更好的控制能力。
Most designs for course - keeping autopilot for ships adopt linear Nomoto model and neglect its nonlinear factors. For this reason the accuracy of course - keeping is low. The nonlinear mathematic model for ships is linearized via exact feedback linearization, and then the robust controUer based on closed - loop gain shaping algorithm controls the model for ships. Under the Simulink condition, the simulation results show that the controller based on closed- loop gain shaping has better performance to the nonlinear mathematic model compared with that based on LQR.
出处
《舰船电子工程》
2006年第3期73-76,共4页
Ship Electronic Engineering
关键词
闭环增益成形
船舶非线性模型
状态反馈精确化
航向保持器
鲁棒控制
closed- loop gain shaping, nonlinear mathematic model for ships, exact feedback linearization, course- keeping, robust control
