基于π型舵船舶减纵摇广义预测控制研究

Study on Generalized Predictive Control for π Type Rudder Pitching Stabilization

针对π型舵船舶减纵摇问题,建立了船舶舵减纵摇状态空间数学模型,基于广义预测控制理论,经过适当简化,推导出一种用于π型舵船舶减纵摇状态空间模型的输出多步预测和广义预测控制律并进行仿真研究。对于白噪声干扰情况,利用线性Kalman滤波器估计系统状态,以水翼艇为研究对象进行了仿真。仿真结果表明:有效可行、简便实用并具有良好的参数鲁棒性,获得了良好的减纵摇控制效果。

The state space mathematical model was proposed for π type rudder pitching stabilization. Based on generalized predictive control theory with suitable simplification, an output multi-step predictive and generalized predictive control law for π type rudder pitching stabilization was developed. Using linear Kalman filter to estimate system states with white-noise interference, for submerged Hydrofoil Craft, a mathematical simulation was conducted. The simulations show that the proposed method is effective with good parameter robustness. The good control effect of pitching stabilization is achieved.