基于斜舵船舶减横摇LQG控制研究

Study on Slanting Rudder Of Ship Rolling Stabilization Based on LQG Control Method

研究基于斜舵船舶减横摇问题,建立了船舶基于斜舵横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Kalman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横摇效果的影响。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横摇控制是可行的。

The state space mathematical model was proposed for slanting rudder rolling stabilization. The stochastic sea interference modeling was completed by using a least square method by recursion. Here, the original model and interference model were merged into a new system model by introducing white noises in 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 a Linear Quadratic Gaussian （LQG） method. Besides, relation of slanting rudder ＂s angle and rolling by simulation were analyzed. The results indicate that using the classical LQG method to realize anti-rolling by slanting rudder is feasible and efficacious in the engineering application.