solidot新版网站常见问题,请点击这里查看。
消息
本文已被查看123次
Optimal Universal Controllers for Roll Damping. (arXiv:1707.07277v3 [cs.SY] UPDATED)
来源于:arXiv
Roll damping is an important problem of ship motion control since excessive
roll motion may cause motion sickness of human occupants and damage fragile
cargo. Actuators used for roll damping (fins, rudders and thrusters) inevitably
create a rotating yaw moment, interfering thus with the vessel's autopilot
(heading control system). To reach and maintain the "trade-off" between the
concurrent goals of accurate vessel steering and roll damping, an optimization
procedure in general needs to take place where the cost functional penalizes
the roll angle, the steering error and the control effort. Since the vessel's
motion is influenced by the uncertain wave disturbance, the optimal value of
this functional and the resulting optimal process are also uncertain. Standard
approaches, prevailing in the literature, approximate the wave disturbance by
the "colored noise" with a known spectral density, reducing the optimization
problem to conventional loop-shaping, LQG or $\mathcal{H}_\infty$ contro 查看全文>>