基于H∞设计法的非线性舵鳍联合控制系统仿真研究

建立了首摇、横荡、横摇三个自由度的船舶运动方程。给出了随机海浪波高、横荡力、横摇力矩、艏摇力矩的仿真算法。介绍了干扰抑制的H^∞线性系统设计方法。把非线性船舶舵鳍联合控制系统设计问题化为以二次型性能指标为目标函数的干扰抑制的H^∞线性系统设计问题；基于H^∞系统设计方法，进行舵鳍联合控制系统的设计。并用MATLAB语言完成了控制器的设计与仿真，仿真结果表明基于H^∞设计法的舵鳍联合控制器在保证航向控制的同时，达到较高的减摇效果。

Simulation on Nonlinear Rudder/Fin Joint Control Based on H∞ Control Theory

The ship-motion equations of sway, yaw and rolling were founded. The simulation algorithms of wave high, yaw force, rolling moment and sway moment were put forward. Induced the H design approach for disturbance attenuation of linear system. The non-linear rudder/fin joint control system-design problem was transformed into the H design problem for disturbance attenuation of linear system. Based on the H control theory , a rudder/fin joint controller was designed. Design and simulation of the controller were completed using MATLAB. Simulation results show that this control strategy has nice performance on course-keeping and roll stabilization.