基于变结构控制理论的船舶非线性控制仿真研究

为厂提高船舶的航行安全性以及航行中的舒适性．设计了舵鳍联合减摇控制器。分析了船舶运动的非线性模型，根据实际情况进行假设，得到了船舶舵鳍联合减摇控制系统的状态方程，把非线性船舶鳍联合控制模型转化为可控正则型；将船舶运动模型看作是由横摇、艏摇、横荡3个子系统构成的大系统．进行了舵鳍联合控制，设计了分散变结构控制器，最后针对这类控制器进行了MATLAB仿真研究。仿真结果表明：舵鳍联合控制器能够很好的抑制船舶的横摇和艏摇，并能尽可能大的减小横荡。

Research on Nonlinear Rudder/Fin Joint Control Based on Variable Structure Control Theory

The safety and comfort of ships during the underway are improved with the design of rudder/fin joint stabilization controller. The nonlinear motion of ship is studied. Certain hypothesis based on real situation is made and the nonlinear state equation of rudder/fin joint control is obtained. Then the nonlinear state equation is transformed into the controllability canonical form for the nonlinear system. The rudder/fin joint controller is then designed based on the decentralized variable structure control theory. Simulation rcsults under Matlab show that this control strategy has nice performance on roll and yaw stabilization, and has certain effect on the control performance of sway motion.