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船舶在航行时,舵不仅能产生艏摇力矩,而且能够产生横摇力矩。根据艏摇和横摇运动对舵的分频响应现象,采用H?控制理论分别设计航向以及舵减摇控制系统,并通过研究加权函数的选取方法选择合适的系统加权函数,从而抑制外部干扰和精确跟踪设定航向。针对系统的外部海浪干扰,将海浪干扰模型和系统模型组成新的扩展系统,利用卡尔曼滤波方法对系统状态进行最优估计,进一步减小海浪干扰对船舶的影响。仿真结果表明该控制系统具有良好的鲁棒性,能有效抑制海浪的干扰,对航向、横摇的控制效果良好。
When the ship is navigating, the rudder can not only generate the moment of rocking, but also produce the moment of rocking. According to the frequency response of yaw and yawing motion, the H? Control theory is used to design the heading and rudder roll control system separately. The weighting function is selected to select the appropriate system weighting function to suppress external disturbance and Accurately track set course. In view of the system’s external wave interference, the wave interference model and the system model are combined into a new expansion system. The Kalman filter method is used to estimate the system state optimally to further reduce the impact of the wave interference on the ship. The simulation results show that the control system has good robustness, can effectively restrain the interference of the waves, and has good control effect on heading and roll.