低能耗船舶航向保持混合灵敏度H_∞控制算法

Low Cost Mixed Sensitivity H_∞ Control Algorithm of Ship Course-keeping

针对海浪中航行的船舶在航向保持过程中,船艏向处于高频振荡引起的频繁操舵、增加能耗的问题,提出了一种S/KS混合灵敏度H∞鲁棒控制算法。通过设计合理的性能权函数和控制权函数,获得了较高的航向保持精度和干扰抑制性能。在不同海况下与LQ最优控制的对比仿真表明,该控制算法对高频海浪干扰抑制具有良好的鲁棒性,操舵能耗显著降低。

Ship yaw will oscillate in seaway and this may lead unnecessary wear of rudder actuator.A S/KS mixed sensitivity control algorithm of ship course-keeping is presented.Through designing suitable performance weight function and control weight function,high course-keeping precision and disturbance-rejection performance are achieved.Simulation under different sea states demonstrates that the H∞ control algorithm has better robust disturbance rejection performance than linear quadratic optimal control algorithm and steering cost is much less.