船舶航向/横摇鲁棒容错控制研究

Ship course/roll robust fault tolerant control

为提高船舶航向/横摇控制系统的可靠性,改善系统故障情况下的容错控制效果,采用基于线性矩阵不等式(LMI)的鲁棒容错控制方法,对船舶航向/横摇系统进行容错控制研究.建立船舶航向/横摇耦合运动模型,分析故障导致的模型等效不确定性,通过定义广义干扰,将模型变换为适合于H2/H∞鲁棒容错控制设计的标准模型.设计系统的性能评价指标,求解鲁棒容错控制器,并进行仿真验证.结果表明,船舶航向/横摇鲁棒容错控制系统具有良好的容错性能.

To improve the reliability of the ship course/roll con- trol system while ameliorating the effectiveness of failure system fault-tolerant control, the robust fault-tolerant control method based on linear matrix inequalities （LMI） was used in the ship course/roll fault-tolerant control system. Ship course / roll cou- pled model was established and model equivalent uncertainty caused by the failures was analyzed. The model was transformed into the standard form which being suitable for the design of H^2/H^∞ robust fault-tolerant control through the definition of generalized interference. The evaluation signal of the system performance was designed and the robust fault-tolerant controller was calculated. Simulation result shows that the proposed sys- tem has better fault-tolerance performance.