基于斜舵船舶减纵摇LQG控制

Ship pitching stabilization of slanting rudder based on LQG control method

研究基于斜舵船舶减纵摇问题,建立了船舶基于斜舵纵向运动状态空间数学模型,用递推最小二乘法对海浪扰动进行建模.将扰动模型与原来的系统模型合并为新的系统模型,并引入白噪声作为系统干扰.对扩展后的新系统,运用线性二次高斯(LQG)控制方法计算出扩展Kalm an滤波增益阵和扩展随机最优控制增益阵.另外通过仿真给出了斜舵的倾斜角度对减摇效果的影响.仿真结果表明,基于斜舵利用经典的LQG控制方法实现船舶减纵摇控制是可行的.

A state space mathematical model is proposed for slanting rudder pitching stabilization. The stochastic sea interference modeling was completed by using a least square method by recursion. The original model and interference model were merged into a new system model by introducing white noises into the normal distribution. For the new extended system, the steady-state extended Kalman filtering plus matrix and the steady-state extended stochastic optimal control plus matrix were obtained by the Linear Quadratic Gaussian （LQG） method. Besides, the relation of slanting rudder＇ s angle and pitching was analyzed by simulation. The results indicate that using the classical LQG method to realize the anti-pitching by slanting rudder is feasi- ble and efficacious in the engineering application.