Bode积分定理在舵减摇H_∞设计中应用

Application of Bode′s theorem in the H_∞ design for ship rudder roll stabilization

针对舵减摇系统的H∞混合灵敏度问题,研究了控制系统设计中的限制因素,指出舵减摇控制系统的性能(灵敏度特性)要受到Bode积分定理的约束,因此在船舶横摇自然频率附近的频段内性能不能做到太低。考虑这些限制条件,并从基本的性能要求出发,详细说明了舵减摇系统H∞设计中权函数的确定。经过多次重新设计和对比,给出了一组最为合理的设计结果。仿真结果表明,所设计的H∞控制系统满足性能要求,而且取得了很高地减摇效果。

The H∞ mixed sensitivity problem of the rudder roll stabilization control system is used to illustrate the performance limitations of a control system. It is pointed out that the performance of the system is limited by Bede＇s integral theorem, therefore the performance of the system can not be very low at frequencies around the ship roll resonance frequency. Allowing for these limitations, the determination of weighting functions is fully discussed based on the performance specifications of the rudder roll stabilization. After repented designs and comparisons, a reasonable design result is given in this paper. As can be seen from the simulation results, good stabilization effect is achieved, and the performance specification of the H∞ control system is satisfied.