环境影响与参数摄动下船舶航速的非线性H∞控制

系统仿真学报 ›› 2016, Vol. 28 ›› Issue (8): 1769-1775.

环境影响与参数摄动下船舶航速的非线性H_∞控制

袁裕鹏^1,2,3, 章勐⁴, 严新平^1,2,3, 郭波⁵, 万江龙^1,2,3

1.武汉理工大学能源与动力工程学院可靠性工程研究所,武汉 430063;
2.武汉理工大学船舶动力工程技术交通行业重点实验室, 武汉 430063;
3.武汉理工大学国家水运安全工程技术研究中心,武汉 430063;
4.武汉理工大学能源与动力工程学院可靠性工程研究所, 武汉 430063;
5.中国水产科学研究院渔业机械仪器研究所,上海 200092

收稿日期:2015-05-11 修回日期:2015-07-06 出版日期:2016-08-08 发布日期:2020-08-17
作者简介:袁裕鹏(1980-), 男, 博士, 讲师, 研究方向为控制理论与应用、船舶动力系统可靠性与绿色技术等。
基金资助:
国家科技支撑计划(2013BAG25B03), 湖北省自然科学基金(2013CFA007),国家级大学生创新创业训练计划(20161049705011)

Nonlinear H_∞ Control for Marine Speed with Parameter Perturbation and Ambient Interference

Yuan Yupeng^1,2,3, Zhang Meng⁴, Yan Xinping^1,2,3, Guo Bo⁵, Wan Jianglong^1,2,3

1. Reliability Engineering Institute, School of Energy and Power Engineering, Wuhan University of Technology, Wuhan 430063, China;
2. Key Laboratory of Marine Power Engineering ? Technology (Ministry of Communications), Wuhan University of Technology, Wuhan 430063, China;
3. National Engineering Research Center for Water Transport Safety, Wuhan University of Technology, Wuhan 430063, China;
4. School of Energy and Power Engineering, Wuhan University of Technology, Wuhan 430063, China;
5. Fishery Machinery and Instrument Research Institute, Chinese Academy of Fishery Sciences, Shanghai 200092, China

Received:2015-05-11 Revised:2015-07-06 Online:2016-08-08 Published:2020-08-17

摘要/Abstract

摘要： 为了提高船舶的自动化水平,增强船舶的航行安全,对航速的稳定控制是重要的因素之一。由于船舶航速控制是一个参数时变、非线性,且其动态特性受环境因素的影响,因此常规的控制方法难以获得良好的控制效果。在建立船舶运动的非线性数学模型时,考虑了环境因素如风、浪、流的影响和系统参数不确定性。在此基础上,利用微分几何的方法对模型进行了精确线性化,然后利用线性H_∞控制理论,设计了船舶航速的非线性H_∞控制器。仿真结果表明非线性H_∞控制器能有效的抑制环境扰动,提高系统的稳定性,保证控制精度,具有较强的鲁棒性。

关键词: 船舶航速控制, 参数摄动, 非线性H_∞控制;, 鲁棒性

Abstract: In order to improve the automation level and enhance the navigation safety of ships, stable control for ship speed is very important. Good control effect is difficult to obtain based on the conventional control method since the marine speed control system is a time-varying parameters and nonlinear complicated propulsion system. The uncertainty of the system parameters and the effect of environment such as winds, waves and currents were considered adequately in ship motion mathematical model with disturbing force. The mathematic model was linearized accurately with the differential geometry method. Then the nonlinear H_∞ controller was designed according to the linear H_∞ theory. The simulation results show that the H_∞ controller could effectively restrain the effect of the environment disturbance, improve the stability of the control system, ensure the accuracy of control and enhance the systems' robustness.

Key words: ship speed control, parameter perturbation, nonlinear H-infinity control, robustness

中图分类号:

U665.12

袁裕鹏, 章勐, 严新平, 郭波, 万江龙. 环境影响与参数摄动下船舶航速的非线性H_∞控制[J]. 系统仿真学报, 2016, 28(8): 1769-1775.

Yuan Yupeng, Zhang Meng, Yan Xinping, Guo Bo, Wan Jianglong. Nonlinear H_∞ Control for Marine Speed with Parameter Perturbation and Ambient Interference[J]. Journal of System Simulation, 2016, 28(8): 1769-1775.

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