船舶参数激励横摇运动鲁棒控制

Robust control of Ship parametric excitation rolling motion

船舶横摇运动是船舶非线性运动中的一个重要研究课题。本文在非线性船舶运动模型的基础上,利用精确反馈线性化将船舶参数激励横摇运动模型转换为线性模型,然后根据一阶闭环增益成形设计非线性鲁棒控制器,最后利用有无干扰情况下的船舶横摇运动来说明本文所设计控制器的鲁棒性强。

Ship rolling motion is one of the important research topics in the nonlinear motion of ships. On the basis of nonlinear ship motion model,this paper made use of the exact feedback linearization to convert the ship's parametric motion model into a linear model. Nonlinear robust controller was designed according to the first order closed loop gain shaping. Finally,the simulation of ship motion was used to demonstrate the robustness of the proposed controller.