船舶横摇减摇系统的鲁棒控制

Robust Control for Ship Roll and Anti-rolling Systems

船舶在海上航行时,不可避免会受到海风、海浪、海流的环境干扰,会产生艏摇、横摇等现象,影响船舶的适应性,产生诸多不利影响。针对船舶的横摇减摇控制系统的数学模型,在考虑系统的非线性和参数不确定性的情况下,利用李雅普诺夫稳定性理论推导使系统渐近稳定的充分条件,设计鲁棒控制器,用MATLAB软件进行求解和仿真,验证方法的可行性。

As a ship is sailing in sea,its adaptability will be affected by yawing and rolling as well as other inevitably influence caused by wind,waves and ocean current. To design robust controller in accordance with the model of ship roll and anti-rolling systems,this paper takes nonlinearity and parameter uncertainty into consideration,deduces the conditions for systems stability with Liapunov＇s Stability Theory and tests its feasibility through solution and stimulation with the help of MATLAB（ Matrix Laboratory）.