基于H_∞的船舶多变量控制系统设计

Integrated Ship Control Based on the H_∞ Design Technique

针对舵减摇系统的特点,提出了一种新的H∞设计方案。对舵减横摇控制回路,采用H∞混合灵敏度的设计方法,在设计过程中分析了Bode积分定理对性能的限制条件,给出了一组最优设计结果。对艏摇控制回路,采用常规的负反馈设计方法设计了航向控制器。对整个系统进行的综合仿真表明,所设计的舵减摇系统满足性能要求,而且在不影响艏摇角的情况下,取得了很高的减摇率。

This paper presents the H∞ design of a rudder roll stabilization control system. It is pointed out that the performance of the system is limited by the Bode integral theorem,an optimal design result is given in this paper. As can be seen from the simulation results,the rudder roll stabilization system doesn＇t affect the yaw angle,at the same time,good stabilization effect is achieved,and the performance specification of the control system is satisfied.