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针对船舶航向/舵减横摇控制系统的特点,提出了一种新的设计方案。对舵减横摇控制回路,基于开环增益成形的思想,通过指定闭环灵敏度函数的幅频特性形状,得到相应的舵减横摇控制器。在设计过程中不但考虑了对象的非最小相位特性,还分析了Bode积分定理对性能的约束条件,在系统的性能和控制输出之间进行了折衷,给出了一组优化设计结果。对航向控制回路,应用混合灵敏度问题设计了H∞航向控制器。设计指标是在保证船舶能很好的跟踪航向指令的前提下尽可能的减小艏摇控制回路和横摇控制回路之间的耦合作用。仿真结果表明,所设计的舵减摇控制系统满足性能要求,取得了较高的减摇率,而且横摇运动对航向的影响很小。通过对摄动后的对象进行仿真,进一步验证了系统具有很好的鲁棒性。
Aiming at the characteristics of ship heading / rudder reduction control system, a new design scheme is proposed. Based on the idea of open-loop gain shaping, the corresponding rudder roll reduction controller is obtained by designating the amplitude-frequency characteristic shape of the closed-loop sensitivity function. In the design process, not only the non-minimum phase characteristics of the object are considered, but also the constraints on the performance of the Bode integral theorem are analyzed. A compromise between system performance and control output is given, and a set of optimal design results are given. For the heading control loop, the H∞ heading controller is designed using the mixed sensitivity problem. The design target is to reduce the coupling between the control loop and the roll control loop as much as possible while ensuring that the ship can track the heading properly. The simulation results show that the designed rudder roll control system meets the performance requirements and achieves a high rate of roll reduction, and the roll motion has little effect on heading. By simulating the perturbed object, the system is further verified to be robust.