基于反馈线性化与闭环增益成形的减摇鳍控制

根据减摇鳍系统的非线性数学模型,设计了一种具有鲁棒性的非线性控制器。通过采用精确反馈线性化方法将减摇鳍系统的非线性模型线性化,然后用闭环增益成形算法设计出非线性鲁棒控制器。用Matlab的Simulink工具箱分别对相同海况下未进行减摇控制、已设定航速及航速减半状态时采用减摇鳍控制的非线性数学模型进行仿真。仿真结果表明,该控制策略对于减摇鳍非线性控制系统是十分有效的,特别是鲁棒性能令人满意。算法的设计过程简单,物理意义明显。

Control of Fin Stabilizer Based on Feedback Linearization and Closed-loop Gain Shaping

According to the nonlinear mathematical model of fin stabilizer system,a nonlinear robust controller has been designed.The nonlinear mathematical model of fin stabilizer system is linearized through exact feedback linearization,then the nonlinear robust controller is designed by using closed-loop gain shaping algorithm.The nonlinear model has been simulated in the cases without roll stabilizer and with fin stabilizer at a given ship speed or half of the given speed under same sea state with Simulink of Matlab tool box,respectively.The simulation results show that the control effects are very effective,especially it has very satisfactory robust stability.The algorithm given in the paper has the marits of design procedure simpicity and clarified physical meanings.