船舶运动控制研究

杨盐生

船舶运动控制研究

杨盐生

大连海事大学航海学院辽宁大连 116026

基金项目:

高等学校博士学科点专项科研基金项目 20020151005

交通部重点科研基金项目 95060222

交通部跨世纪优秀人才科研项目 95050531

详细信息

作者简介:
杨盐生(1957-), 男, 江苏盐城人, 教授, 博士, 博导, 从事载运工具运用工程研究

中图分类号: U675.91;TP273.2
计量
- 文章访问数: 433
- HTML全文浏览量: 205
- PDF下载量: 368
- 被引次数: 0
出版历程
- 收稿日期: 2002-10-03
- 刊出日期: 2003-06-25

Review on ship motion control

YANG Yan-sheng

School of Navigation, Dalian Maritime University, Dalian 116026, China

More Information

Author Bio:
YANG Yan-sheng(1957-), male, PhD, professor, doctoral tutor, 86-411-4729527, ysyang@163.com

摘要

摘要: 首先对船舶运动控制研究中存在的问题进行了分析, 认为其研究中主要存在三方面的问题, 即用于控制器设计的模型存在不确定性问题、控制器设计模型的非线性问题和执行机构的问题, 针对这些问题, 利用鲁棒控制和鲁棒自适应控制理论, 提出了解决这三方面问题的控制策略, 经仿真研究证实其控制效果是令人满意的。
- 船舶运动控制 /
- 鲁棒控制 /
- 自适应控制 /
- 综述
Abstract: Some problems remaining unsolved in the area of ship motion control were analyzed. It was pointed that there were three problems, i.e., the first is that uncertainty always exists in the mathematical model used for designing controller, which has not been given a full attention yet; the second is that non-linearity is not included in the model when designing the controller; the last is that the actuator dynamics is not considered when designing the controller. By use of robust control and robust adaptive control theorem, several strategies that can be used to solve above problems were presented. The performance of proposed methods is illustrated with simulation results.
- ship motion control /
- robust control /
- adaptive control /
- review

HTML全文

图 1 船舶控制系统

Figure 1. Fig. 1 Ship control system

下载: 全尺寸图片幻灯片

图 2 横摇角的变化曲线

Figure 2. Fig.2 Time response of ship roll angle

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图 3 减摇鳍控制角的变化曲线

Figure 3. Fig.3 Time response of fin control angle

下载: 全尺寸图片幻灯片

表 1 控制性能比较

Table 1. Tab.1 Comparison of control performance

	横摇角平均幅值/ (°)	鳍控制角平均幅值/ (°)	执行机构时间常数/s
LQG控制律	0.62	11	1.9
连续鲁棒控制律	0.1	11	1.8
变结构鲁棒控制律	0.12	11.5	大于4也未见系统不稳定

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参考文献(12)

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[4]	杨盐生. 不匹配不确定系统变结构鲁棒控制及应用[J]. 交通运输工程学报, 2001, 1 (2): 103—107. http://transport.chd.edu.cn/article/id/200102023 YANG Yan-sheng. Variable structure robust control algorithm for uncertain system with the absence of matching assumptions [J]. Journal of Traffic and Transportation Engineering, 2001, 1 (2): 103-107. (in Chinese) http://transport.chd.edu.cn/article/id/200102023
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[8]	杨盐生. 船舶航向鲁棒PID自动舵设计[J]. 大连海事大学学报, 1999, 25 (4): 1—6. https://www.cnki.com.cn/Article/CJFDTOTAL-DLHS199904002.htm YANG Yansheng, et al. Design of robust PID autopilot for course keeping[J]. Journal of Dalian Maritime University, 1999, 25(4): 1-6. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-DLHS199904002.htm
[9]	杨盐生. 船舶航向自适应鲁棒PID自动舵设计[J]. 武汉交通科技大学学报, 1999, 23 (6): 594—598. https://www.cnki.com.cn/Article/CJFDTOTAL-JTKJ199906003.htm YANG Yansheng. Adaptive robust PID autopilot for ships [J]. Journal of Wuhan Transportation University, 1999, 23 (6): 594-598. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-JTKJ199906003.htm
[10]	杨盐生. 船舶航向非线性系统的鲁棒自适应控制[J]. 中国造船, 2000, 41 (1): 21-25. https://www.cnki.com.cn/Article/CJFDTOTAL-ZGZC200001003.htm YANG Yansheng. Design of adaptive robust control autopilot for ship steering with uncertain nonlinear system[J]. Shipbuilding of China, 2000, 41(1): 21-25. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-ZGZC200001003.htm
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[12]	杨盐生. 不确定系统的鲁棒控制及其在船舶运动控制中的应用[D]. 大连: 大连海事大学, 2000.