Given the uncertainty of parameters and the random nature of disturbances that effect a ships course, a robust course controller should be designed on the basis of rudder/flap vector control. This paper analyzes syste...Given the uncertainty of parameters and the random nature of disturbances that effect a ships course, a robust course controller should be designed on the basis of rudder/flap vector control. This paper analyzes system uncertainty, and the choice of weighting functions is also discussed. When sea waves operate on a ship, the energy-concentrating frequency varies with the angle of encounter. For different angles of encounter, different weighting functions are designed. For the pole of a nominal model existing in an imaginary axis, the bilinear-transform method is used. The "2-Riccati" equation is adopted to solve the H∞ controller. A system simulation is given, and the results show that, compared with a PID controller, this system has higher course precision and more robust performance. This research has significant engineering value.展开更多
In order to deal with the chattering of rudder angle and the problem of non-convex attainable thrust regions,introduce the concept of dynamic attainable region for each thruster and rudder to limit the thruster rotati...In order to deal with the chattering of rudder angle and the problem of non-convex attainable thrust regions,introduce the concept of dynamic attainable region for each thruster and rudder to limit the thruster rotational speed and the rudder angle,and decompose the thrust allocation optimization problem into several optimization sub-problems.The optimization sub-problems were solved by particle swarm optimization(PSO) algorithm.Simulation studies with comparisons on a model ship were carried out to illustrate the effectiveness of the proposed thrust allocation optimization method.展开更多
文摘Given the uncertainty of parameters and the random nature of disturbances that effect a ships course, a robust course controller should be designed on the basis of rudder/flap vector control. This paper analyzes system uncertainty, and the choice of weighting functions is also discussed. When sea waves operate on a ship, the energy-concentrating frequency varies with the angle of encounter. For different angles of encounter, different weighting functions are designed. For the pole of a nominal model existing in an imaginary axis, the bilinear-transform method is used. The "2-Riccati" equation is adopted to solve the H∞ controller. A system simulation is given, and the results show that, compared with a PID controller, this system has higher course precision and more robust performance. This research has significant engineering value.
基金National Natural Science Foundations of China(Nos.51579026,51079013)Program for Excellent Talents in Universities of Liaoning,China(No.LR2015007)+1 种基金Project of Resource and Social Security of Ministry of Human Province,ChinaFundamental Research Funds for the Central Universities,China(No.3132016020)
文摘In order to deal with the chattering of rudder angle and the problem of non-convex attainable thrust regions,introduce the concept of dynamic attainable region for each thruster and rudder to limit the thruster rotational speed and the rudder angle,and decompose the thrust allocation optimization problem into several optimization sub-problems.The optimization sub-problems were solved by particle swarm optimization(PSO) algorithm.Simulation studies with comparisons on a model ship were carried out to illustrate the effectiveness of the proposed thrust allocation optimization method.
