LQG Control for a Class of Complex Disturbance Systems Based on Kalman Filter

摘要

Because of the large inertia, load uncertainty and random disturbance, it is difficult to track the control signal quickly and accurately. Problems such as frequent oscillations, overshoot, long regulation time, and course deviation often occur. The difficulty of course control increases with the increase of system complexity and the superposition of disturbance with different characteristics. The ship's load determines the draught depth. The draught depth determines the size of the steering gear load. The steering gear load directly affects the dynamic and static tracking accuracy of the rudder blade. In order to overcome the uncertainty of ship load and the random disturbance of wave, current and wind, and to realize the fast and accurate control of course, a general mathematical description of the system with uncertain disturbance and stochastic disturbance is presented. A linear quadratic Gauss control method based on Kalman filter is presented. The simulation results show that the rudder blade angle of the linear quadratic Gaussian (LQG) ship steering gear control system based on Kalman filter can track the given angle quickly and accurately, and has good restraining ability to random disturbance and uncertain load disturbance.