鲁棒H_∞/H_2控制在水下热动力参数摄动系统中的应用

On Better Control of Structural Parameter Perturbation of Underwater Thermal Propulsion System

针对开式水下循环热动力系统动态性能要求很高及动力装置结构参数摄动十分严重的特点 ,采用结构参数摄动系统 H∞ /H2 线性状态反馈控制器的设计方法 ,设计了开式循环三组元水下热动力系统控制器。仿真结果表明 ,该控制器实现了 H∞ 控制与 H2 控制优势的互补 ,控制系统具有良好的鲁棒稳定性、抗干扰能力及动态响应品质。

Existing controllers appear to be not quite satisfactory for coping with the rather troublesome and inevitable structural parameter perturbation problem. Intense structural parameter perturbation occurs inevitabley during the operation of the underwater thermal propulsion system that burns HAP tri-component fuel. In our opinion, for better control we must foucs on solving robust stability and robust performance. After much research, we first derived mathematical model of the system. We employed robust H_∞/H_2 state feedback control and proved necessary and sufficient conditions of controller solution existence in the underwater thermal propulsion system. Then we designed mixed H_∞/H_2 controller for this system. Finally we conducted simulation tests under three different conditions: (1) fast speed change with depth kept constant; (2) both depth and speed change; (3) sudden change of rotational speed. Figs.1, 2 and 3 give the results of simulation tests; these results show preliminarily that our designed system possesses the following good qualities: good robust performance and stability, good servo tracking property, and good disturbance restraint property.