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为有效抑制参数不确定性和干扰随机性对船舶航向的影响,设计了船舶航向鲁棒控制器.针对船舶海浪的遭遇谱能量集中频段随遭遇角的变化而变化,对不同的遭遇角选择不同的权函数进行设计.采用双线性变换对标称模型位于虚轴上的极点进行处理,并利用“2-Riccati”方程法求解控制器方程.仿真结果表明,与PID控制相比,该控制器航向控制精度较高,并具有较好的鲁棒性能.
In order to effectively restrain the influence of parameter uncertainty and disturbance randomness on the course of the ship, a robust controller of ship course is designed.According to the variation of the spectrum frequency spectrum of the encountering spectrum of ship waves encountered by the ship, the different selection angles The bilinear transformation is used to process the poles of the nominal model located on the imaginary axis and the controller equations are solved by using the “2-Riccati” equation.The simulation results show that compared with the PID control, The controller has high heading control accuracy and good robustness.