基于非线性反馈的水翼艇纵向运动鲁棒控制

发布时间：2018-05-09 02:07

  本文选题：水路运输 + 船舶运动控制　； 参考：《中国航海》2016年01期

【摘要】：为提高水翼艇纵向运动控制的鲁棒性和节能效果,在保持已有的多输入多输出(Multiple-Input Multipe-Output,MIMO)鲁棒控制器不变的基础上,引入正弦函数驱动的非线性反馈代替原有的误差线性反馈。仿真结果表明:在模型摄动时,鲁棒控制器主要改进纵摇效果,而非线性反馈控制能同时改进升沉和纵摇效果,控制效果比鲁棒控制器提升70%以上,控制能量比鲁棒控制器节省90%以上。简单的理论分析和仿真研究结果表明:正弦函数驱动的非线性反馈对于MIMO系统的控制同样适用。
[Abstract]:In order to improve the robustness and energy efficiency of hydrofoil longitudinal motion control, the sinusoidal nonlinear feedback is introduced to replace the original error linear feedback on the basis of keeping the existing Multiple-Input Multipe-Output MIMO robust controller unchanged. The simulation results show that the robust controller mainly improves the pitching effect when the model is perturbed, while the nonlinear feedback control can improve both heave and pitch effects, and the control effect is more than 70% higher than that of the robust controller. The control energy is more than 90% less than the robust controller. The simple theoretical analysis and simulation results show that the sinusoidal function driven nonlinear feedback is also applicable to the control of MIMO systems.
【作者单位】： 大连海事大学航海学院;
【基金】：国家自然科学基金(51109020) 中央高校基本科研业务费专项资金(3132014302)
【分类号】：U664.82
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本文编号：1864082