摘要
针对船舶模型参数变化和环境干扰条件下的船舶航向跟踪控制问题,设计了一种基于信号的S/KS/T混合灵敏度鲁棒算法。该算法中,通过模型降阶生成了便于工程应用的控制器,该控制器的权函数参数通过遗传寻优获得。仿真分析表明:该控制算法在航速变化和各种海况下,闭环系统具有鲁棒稳定性,并且有良好的鲁棒性能。
In view of the ship heading following control problem with the change of ship model parameters and environmental disturbances,an S/KS/T mixed sensitivity robust algorithm based on signal is designed.Weight function parameters are optimized with the genetic optimal algorithm,and a controller designed for engineering application is generated by model order reduction.Simulation shows that the closed-loop system with the control algorithm has a robust stability and good robust performance under various speed and sea conditions.
出处
《海军工程大学学报》
CAS
北大核心
2017年第4期103-106,共4页
Journal of Naval University of Engineering
关键词
船舶航向跟踪
鲁棒控制
混合灵敏度
ship heading following
robust control
mixed sensitivity