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为提高船舶航向/横摇控制系统的可靠性,改善系统故障情况下的容错控制效果,采用基于线性矩阵不等式(LMI)的鲁棒容错控制方法,对船舶航向/横摇系统进行容错控制研究.建立船舶航向/横摇耦合运动模型,分析故障导致的模型等效不确定性,通过定义广义干扰,将模型变换为适合于H2/H∞鲁棒容错控制设计的标准模型.设计系统的性能评价指标,求解鲁棒容错控制器,并进行仿真验证.结果表明,船舶航向/横摇鲁棒容错控制系统具有良好的容错性能.
In order to improve the reliability of the ship heading / roll control system and improve the fault-tolerant control performance under the condition of system failure, a robust fault-tolerant control method based on linear matrix inequality (LMI) is adopted to study the fault-tolerant control of the ship heading / rolling system. The coupled model of ship heading / rolling is established and the model equivalent uncertainty caused by failure is analyzed. By defining generalized disturbance, the model is transformed into a standard model suitable for robust fault-tolerant H2 / H∞ control design. Index to solve the robust fault-tolerant controller and verify the simulation results.The results show that the ship-oriented / roll-robust robust fault-tolerant control system has good fault tolerance performance.