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为减小参数激励带来的不利因素,需要非线性鲁棒控制器对系统稳定性进行控制.为简化船舶参数横摇非线性控制器设计过程,通过构建Lyapunov能量函数,将设计步骤由2步变为1步,减少了控制器参数的整定数量,避免了非线性控制律对消系统的非线性项.仿真结果表明,采用以上方法设计的非线性简化控制器对于消除船舶参数横摇系统的大幅横摇十分有效,并且具有一定的鲁棒性.
In order to reduce the unfavorable factors caused by parametric excitation, a nonlinear robust controller is needed to control the stability of the system.In order to simplify the process of designing the nonlinear controller by rolling the ship parameters, a Lyapunov energy function is constructed to reduce the design steps from two steps Which reduces the setting of the controller parameters and avoids the nonlinearity of the nonlinear control law cancellation system.The simulation results show that the nonlinear simplified controller designed by the above method is effective in eliminating the roll parameter of the ship’s parameters Sharp roll is very effective, and has a certain degree of robustness.