基于LMI的船舶主鳍/襟翼鳍鲁棒控制研究

Research on Robust Control of Ship Main/Flap Fin Stabilizer Based on LMI

针对随机海浪干扰、未建模动态和模型参数不确定性,建立船舶主鳍/襟翼鳍系统数学模型,基于线性矩阵不等式(LMI)的H∞控制方法,考虑干扰抑制、控制器输出约束和模型不确定性的混合灵敏度问题,应用回路成形方法,设计了H∞控制器,详细地分析设计中的权函数选择和灵敏度函数特性等问题,通过仿真验证了这一方法的可行性,所设计的船舶主鳍/襟翼鳍减摇系统不但可以有效地减小船舶横摇,而且系统具有很好的鲁棒稳定性,同时,满足主鳍/襟翼鳍的鳍角幅值约束条件。

For ship disturbed by sea wave, neglected dynamics and parametric uncertainties, the math model of main/flap fin stabilizer system was set up. Considering reducing disturbance, control constraints and model uncertainties, H ∞ robust controller of ship fin stabilizer system was designed which introduced Linear Matrix Inequality solution to achieve the desired improvement in system performance by applying loop shaping methods. Furthermore, performance weighting functions, characteristic of sensitivity functions, etc. were investigated. The method is proved to be feasible because the ship main/flap fin stabilizer system can not only reduce ship roll but also possess robust stability, and angle constraints of main/ flap fin are satisfied.