反步鲁棒镇定及其在舵减横摇中的应用

Back-stepping robust stabilization and its application in rudder roll stabilization

运用反步法的思想,结合自适应方法和鲁棒控制方法,为一类具有未知或不确定参数以及能量有限扰动的非线性系统设计了易于实现的标量控制;讨论了渔政船1500HP在小风浪作用下产生的弱混沌横摇运动,并将标量舵力矩控制律运用于舵减横摇鲁棒控制.仿真验证结果表明:加入舵减摇控制后,船舶抑制海浪扰动的能力较强,控制收敛的速度较快,并且不存在超调,船舶抑制横摇的过程比较平稳,有利于减摇过程中船上人员和设备的安全.此外,控制器的设计过程基于非线性时域模型,可以应用在其他类型船舶的舵减摇设计中.

A scalar controller was designed for a class of nonlinear systems with unknown or uncertain parameters,and also with disturbance of finite energy.In the roll motion of the fishery administration ship 1500HP under weak wave,the weak chaos phenomenon was discussed,and the designed scalar controller was used as rudder moment to stabilize the roll motion.The simulation results show that the disturbance attenuation is satisfactory,the states′convergence is rapid,and the overshoot is avoided.The process of roll stabilization is relatively smooth,which contributes to the safety of the crew and the equipments.The control design method based on nonlinear time-domain model can be widely extended to other roll stabilization problem.