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精确反馈线性化在船舶航向保持器上的应用
引用本文:宫永超,张显库. 精确反馈线性化在船舶航向保持器上的应用[J]. 舰船电子工程, 2006, 26(3): 73-76
作者姓名:宫永超  张显库
作者单位:大连海事大学航海动态仿真和控制实验室,大连,116026
摘    要:现有的船舶航向保持器的设计大都采用Nomoto线性模型,而忽略了船舶操纵运动的非线性因素,因此航向控制的精度比较低。选择状态反馈精确线性化方法,将响应型船舶运动的非线性数学模型进行线性化,再利用基于闭环增益成形算法的鲁棒控制器进行控制,然后在Maflab的Simulink下进行系统仿真,仿真结果表明,所设计的基于闭环增益成形算法的控制器比基于LQR的控制器具有更好的控制能力。

关 键 词:闭环增益成形 船舶非线性模型 状态反馈精确化 航向保持器 鲁棒控制
收稿时间:2005-10-08
修稿时间:2005-11-07

Course Keeping Autopilot for Ships Based on Exact Feedback Lineralization
Gong Yongchao,Zhang Xianku. Course Keeping Autopilot for Ships Based on Exact Feedback Lineralization[J]. Ship Electronic Engineering, 2006, 26(3): 73-76
Authors:Gong Yongchao  Zhang Xianku
Affiliation:Lab. of Simulation and Control of Navigation Systems, Dalian Maritime Univ., Dalian 116026
Abstract:Most designs for course - keeping autopilot for ships adopt linear Nomoto model and neglect its nonlinear factors. For this reason the accuracy of course - keeping is low. The nonlinear mathematic model for ships is linearized via exact feedback linearization, and then the robust controUer based on closed - loop gain shaping algorithm controls the model for ships. Under the Simulink condition, the simulation results show that the controller based on closed- loop gain shaping has better performance to the nonlinear mathematic model compared with that based on LQR.
Keywords:closed- loop gain shaping   nonlinear mathematic model for ships   exact feedback linearization   course- keeping   robust control
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