零航速减摇鳍两步主从控制律设计

摘要

零航速减摇鳍水动力特性与升力式减摇鳍存在本质差异,前者与鳍角、角速度、角加速度构成多约束动态非线性映射,不满足后者的近似线性关系,导致对抗式PID控制无法适用.针对零航速减摇鳍系统特有的动态输入非线性及整体结构,借助非线性分离策略,提出并设计基于变约束模型预测控制与数值迭代反演的两步主从控制律.仿真结果表明,控制器性能良好,但受物理性硬约束影响,零航速减摇效率随海情增加而呈非线性递减趋势.%The essential difference exists in the hydrodynamics between the zero-speed and the lift-based fin stabilizers. For the former, a dynamic nonlinear mapping with constraints between the fin angle, angle rate and angle acceleration is established. However, since this mapping does not satisfy approximate linear relation, the opposed PID control method can not be used. For solution of the dynamic input nonlinearity employed by the zero speed fin stabilizer system, a two-step master-slave control law consisting of a variable constrained model predictive controller and a numerical iterative inverse controller is proposed by means of the nonlinear removal strategy for the special structure. The simulation results show the good performance of the controller designed but the anti-roll efficiency under zero speed degrades nonlinearly with increasing sea conditions due to hard constraints induced by physical reasons.