保吸引子的鲁棒舵减横摇

Robust Rudder Roll Stabilization of Guaranteed Attractor

为满足单舵或联动双舵结构设计舵减摇控制时的单输入要求,使控制器对海浪的扰动具有鲁棒性,针对一类受到持续扰动的系统,提出了保吸引子扰动抑制控制概念.结合反步设计方法、Barbalat引理和Lyapunov分析方法,通过求解代数Riccati方程,得到了该系统的标量自适应鲁棒控制器;将受控系统的状态抑制在一个有界的吸引子内,利用线性矩阵不等式给出吸引子最小化的判据,优化了扰动抑制控制.以渔政船1500HP在小风浪中的弱混沌横摇现象为例,用本文设计的扰动抑制控制器作为操舵力矩进行混沌横摇控制,通过数值仿真验证了保吸引子扰动抑制控制的效果.结果表明:保吸引子控制器使横摇系统的状态快速收敛,并将其抑制在预设的吸引子内,优化吸引子控制器能使吸引子进一步压缩.

In order to meet the requirements of single input in designing the stabilizing controller for ships with single rudder or linked twin rudders and make the controller robust to ocean wave disturbance,a concept of guaranteed attractor disturbance rejection was presented for a class of system with persistent disturbance.Using back-stepping design,Barbalat lemma and Lyapunov theory,a scalar adaptive robust controller for this system was designed by solving an algebraic Riccati equation to restrain the system states into a bounded attractor.Furthermore,a criterion of the attractor minimization was brought forward in the form of linear matrix inequalities to optimize the effect of disturbance rejection control.Taking as an example the weak chaos phenomenon in the roll motion of the fishery administration ship 1500HP under weak wave,the designed disturbance rejection controller was used as rudder moment to control the chaos in its roll motion,and a numerical simulation was made to verify the disturbance rejection effect of the controller.The results show that the states of the ship roll model converge rapidly and stay in the presupposed attractor under the guaranteed attractor controller,while the attractor can be further compressed through optimization of the attractor controller.