基于闭环增益成形的船舶舵机间隙非线性抑制算法

摘要

In order to eliminate the blight of the backlash nonlinearity in rudder servo system to course-keeping for ships, a hybrid control strategy of the first and second order closed-loop gain shaping algorithms is used, which makes the best of both the fine dynamics performance by the second order closed-loop gain shaping algorithm and static error banishing by the first order closed-loop gain shaping algorithm. Simulation experiments are carried out on a nonlinear multifunctional naval vessel model. The results show that the hybrid controller can eliminate the blight of the backlash nonlinearity under heavy sea state and reduce the peak overshoot with satisfactory robustness.%为了克服舵机间隙非线性对船舶航向保持控制的不利影响，提出一种基于一阶与二阶闭环增益成形的混合控制算法，充分发挥了二阶闭环增益成形算法的良好动态控制性能以及一阶闭环增益成形算法能够消除静差的优势；并以“育龙”轮的非线性响应模型为控制对象进行了仿真实验。仿真实验结果显示：在恶劣海况下，混合控制算法能够消除舵机间隙非线性带来的不良影响，在降低航向超调量的同时具有良好的鲁棒性能。