闭环增益成形算法用于船舶非线性模型控制

闭环增益成形算法根据闭环频谱及灵敏度函数所希望的形状,用最大奇异值、带宽频率、频谱峰值和高频渐近线斜率4个具有工程意义的参数构造出鲁棒控制器。采用响应型船舶运动非线性数学模型,设计基于闭环增益成形算法的鲁棒控制器,然后在Matlab的Simulink下进行系统仿真。仿真结果表明,所设计的控制器具有良好的鲁棒性能,施舵合理。

Closed-loop gain shaping algorithm applied to control of a ship nonlinear model

Closed-loop gain shaping algorithm constructs a robust controller by the four engineering parameters of the largest singular value, bandwidth frequency, peak value and slope of high frequency asymptote according to the desired shape of sensitivity function and closed-loop frequency spectrum. Using a nonlinear ship mathematic model, a robust controller is designed based on closed-loop gain shaping algorithm. The simulating results obtained by Simulink of Matlab indicate that the designed controller has good robustness and reasonable rudder angles.;