摘要
传统的PID控制器鲁棒性较差,模型参数变化对控制器的影响较大。为了提高系统的鲁棒性,将H∞控制器应用于潜艇机动控制。通过分析模型的速度参数摄动性,确定模型的干扰信号与评价信号,利用Matlab设计最优的H∞控制器。仿真结果表明在该控制器作用下,系统达到了信号跟踪的要求,并且在速度有较大摄动时,系统仍有较好的动态性能,即系统的鲁棒性较好。该方法亦可用于潜艇模型的其他单个或多个参数摄动的鲁棒性设计。
The traditional PID controller can be affected when some parameters change for its bad robustness. In order to improve the system robustness,applied the H∞controller into submarine motion control,analyzed the perturbation model of speed,chose the interference signal and the evaluation signal,designed the optimum H∞ controller. The simulation shows that the system with the H∞ controller meets the requirement for signal tracking,and the perturbation of speed has a little impact on the system,namely the system is robust. The design method can be applied to design other perturbing parameters robust controller for submarine model,including single parameter or multiple parameters perturbation.
出处
《舰船科学技术》
北大核心
2014年第9期98-101,共4页
Ship Science and Technology
关键词
H∞控制
潜艇运动模型
鲁棒控制
摄动模型
H∞ control
submarine motion model
robust control
perturbation model
