摘要
基于潜器航向控制Nomoto模型,考虑深水海流和近水面海浪的不同频率特性扰动的影响,应用H_∞混合灵敏度方法设计潜器自动舵的鲁棒控制器。在设计中,将系统时域指标和混合灵敏度加权函数的频域要求与遗传算法有效结合,通过构成有约束的遗传寻优问题来对加权函数参数进行优化。以同时获得满足频域和时域性能要求的H_∞控制器。仿真表明这种方法是正确和有效的。
Investigation is made on Nomoto model of underwater vehicle and the disturbance of ocean current and surf with different frequency characteristic are considered when the vehicle navigates in the deep water and near the surface.H_∞mixed sensitivity method is employed to design robust controller of autopilot.Through combining indexes of time domain and limitation of weight functions of frequency domain with genetic algorithms to constructe bounded optimization problem,optimized parameters of weight functions that can satisfy time and frequency domain indexes simultaneously are gained.The simulation results show the correctness and effectiveness of the proposed method.
出处
《弹箭与制导学报》
CSCD
北大核心
2006年第S5期202-205,共4页
Journal of Projectiles,Rockets,Missiles and Guidance
关键词
H_∞控制
潜器
遗传算法
自动舵
混合灵敏度
航向控制
H_∞control
underwater vehicle
genetic algorithms
autopilot
mixed sensitivity
course control
