船舶转向的鲁棒控制及其优化设计

Robust control of course-changing for ships and its optimizing design

针对已有的转向控制的控制器和前馈控制器环节进行了改进.将原有的LQ控制器用基于闭环增益成形算法的鲁棒PID控制器取代;将原有的前馈环节转向分区从3个增加到7个,从而提高系统的精度和控制质量,该前馈控制器利用了Simulink中Switch(选择开关)模块进行自动判断,7个分区逐层嵌套,逻辑清楚.系统仿真时加入了海况干扰模块,以验证系统的鲁棒性.仿真结果表明,新的转向控制器较原有控制器在控制精度和鲁棒性方面均有所改善,较原系统有一定的简化.

The existed course-changing controller was improved. A kind of robust PID controller based on closed-loop gain shaping algorithm, which had higher precision and superior robustness, replaced the LQ controller. The three turning zones of original feed-forward controller were divided into seven zones, which improved the precision and control performance of the system. The feed-forward controller made use of the Switch model in Simulink to judge automatically. The seven zones embedded layer by layer so that the logic was clear. The sea state disturbance model was introduced into the simulating system in order to test its robustness. The final result through comparing the new course-changing controller with the old one follows that the precision and robustness are both improved. The new model is simple to some extent.