鲁棒极点约束的船舶减摇控制研究

Research on ship ant rolling control with robust pole constraint

针对存在随机海浪干扰、未建模动态和模型参数不确定性的船舶,兼顾控制器输出约束,提出采用LMI(Linear Matrix Inequality)区域进行闭环极点配置,考虑混合灵敏度S/R/T问题,设计了具有鲁棒极点约束的船舶减摇鳍H∞控制系统,对混合灵敏度S/R/T问题、权函数的选择等问题进行了研究,通过仿真验证了这一设计的可行性,所设计的船舶减摇鳍系统不但具有抗干扰性能,而且具有鲁棒稳定性.

Be aimed at the ship disturbed by sea wave, neglected dynamics and parametric uncertainties, H∞robust control of ship fin stabilizer system with controller output restraint is presented by considering mixed sensitivity problem S/R/T which introduces the concept of LMI robust closed-loop pole placement to achieve the desired improvement in system performance. Furthermore, mixed sensitivity problem S/R/T, performance weighting functions and etc are investigated in detail. The method is proved to be feasible because the system can not only resist sea wave disturbance but also possess robust stability. Simulation results justify the effectiveness of the method.