基于最速跟踪微分器的电罗经直航向鲁棒控制

Robust Control in Linear Course of Electromagnetic Controlled Gyrocompass Base on Steepest Tracking-differentiator

为减小舰船直航向运动情况下风、流、摇摆等对电罗经航向造成的随机误差影响,提高舰船直航向运动时电罗经指向精度,采用高阶AR模型对其随机误差进行建模,确定模型阶数,获得了较为准确的误差模型。同时,基于建立的模型,对电罗经航向随机误差进行预测,利用前期预测值结合自行设计的鲁棒最速跟踪微分器对随机扰动进行抑制。通过与标准最速跟踪微分器进行对比表明,采用鲁棒最速跟踪微分器与高阶AR模型结合的方法较为有效地抑制了电罗经航向随机误差过程,为减小电罗经直航向误差提供一种行之有效的方法。

In order to reduce the linear course error and enhance the heading accuracy of Electromagnetic Controlled Gyrocompass,Higher-order AR model is used for the Modeling.Based on the model,the course error of Electromagnetic Controlled Gyrocompass is predicted,better effect is achieved.The model and robust Steepest Tracking-differentiator are used to reject the random error.The result indicates that the method can reject the error of Electromagnetic Controlled Gyrocompass better,supplies an effective way to reduce the linear course error.