分置式浮桥动力学模型与H_∞鲁棒控制

Dynamic modeling and H_∞ robust control of separated floating bridge

把整个浮桥系统作为研究对象,建立了分置式动力固定浮桥的动力学模型,按照动力固定控制系统设计要求对模型进行简化,将浮桥系统分为可控部分和不可控部分,针对可控部分,通过系统状态反馈进行模型解耦研究,考虑混合灵敏度问题,设计H∞鲁棒控制系统.仿真结果表明,所设计的动力固定控制系统能够有效地保持浮桥的可控桥节横向稳定性,即保证整个浮桥的横向稳定性,同时有效地抑制外界干扰.

As a novel method, dynamic positioning of floating bridge has superiority over conventional pontoon bridge techniques. The nonlinear mathematical model of dynamic positioning separated floating bridge is presented in this paper, where the floating bridge is taken into account as an entire sys- tem. Moreover, the control system model is derived in order to meet the needs of dynamic positioning. Dynamics of floating bridge are separated into two parts to meet the demands of control system design： the controlled dynamics and the uncontrolled dynamics. The controlled model is decoupled by using the system state feedback. And then, the H∞ robust control of controlled system is designed by considering the mixed-sensitivity problem. Simulation results show that the proposed method is effective. Then a conclusion is drawn that robust control system for floating bridge is effective to keep the longitudinal stability.