前馈控制的帆船用H_∞ 航向控制器(英文)

H_∞ controller with feedforward for yacht course keeping

由于帆船具有非常严重的非线性和非最小相位特性 ,因而帆船用自动舵设计起来很困难。在处理这类问题上 ,H∞ 控制器是一个强有力的工具。但在这个方法中 ,由于指标的相互矛盾 ,选定灵敏度函数和补灵敏度函数是实际应用的难点 ,而前馈控制可以有效地解决这个问题。为此 。

The autopilot for a yacht is difficulty to design due to its serious nonlinear and non minimum phase characteristics. The H ∞ control is a powerful control tool to deal with this problem. Specified the sensitivity and complementary sensitivity functions are a major difficult point in this method because the conflict of the targets. Feedforward control can solve this problem effectively. This paper introduces a mirror rejection method in feedforward control design to eliminate the influence of non minimum phase.