| 水翼艇纵向运动多变量随机最优控制仿真 |
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| 引用本文： | 赵希人,叶葵,陈虹丽,彭秀艳.水翼艇纵向运动多变量随机最优控制仿真[J].船舶工程,2003,25(4):38-42. |
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| 作者姓名： | 赵希人 叶葵 陈虹丽 彭秀艳 |
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| 作者单位： | 哈尔滨工程大学自动化学院,150001 |
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| 摘 要： | 基于随机控制理论，针对全浸式水翼艇的多变量随机控制方法进行探讨，并着重分析水翼艇的纵向运动姿态的随机最优控制。首先，依据动力学原理对其运动方程的建立和线性化进行了推导。其次，利用线性卡尔曼滤波器对其纵向运动姿态进行估计，依据LOG性能指标构造了最优控制规律。通过施加控制前后状态的比较，可以看出，应用随机最优控制的方法，对水翼艇的纵向运动进行控制取得了良好的效果。
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| 关 键 词： | 水翼艇 纵向运动 多变量随机最优控制 仿真 线性卡尔曼滤波器 船舶 |
Multivariable Stochastic Optimal Control and Simulation of the Longitudinal Motion of Hydrofoil |
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| Motion of Hydrofoil Zhao Xiren,Ye Kui,Chen Hongli and Peng Xiuyan.Multivariable Stochastic Optimal Control and Simulation of the Longitudinal Motion of Hydrofoil[J].Ship Engineering,2003,25(4):38-42. |
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| Authors: | Motion of Hydrofoil Zhao Xiren Ye Kui Chen Hongli and Peng Xiuyan |
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| Abstract: | In this paper,based on the theories of stochastic control,we make a study of multivariable stochastic control methods of hydrofoil and emphasize on the analysis of longitudinal motion of it.At first,the movement equation of hydrofoil and its linearization are deduced from the theories of dynamics.Then the pose of longitudinal motion is estimated by linear Kalman filter.Finally,an optimal control rule is constructed by LQG performance index.Its simulation shows that the stochastic optimal control on hydrofoil has a good effect by comparing the results of without control and under control. |
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| Keywords: | Ship Hydrofoil Longitudinal motion Kalman filtering Stochastic optimal control |
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