海上搜救模拟器的直升机悬停控制.docVIP

1 海上搜救模拟器的直升机悬停鲁棒控制* 张显库，尹勇，金一丞 ( 大连海事大学, 辽宁 大连 116026 ) 摘要： 为了研制海上搜救模拟器的直升机模拟系统，给出了直升机模拟的系统结构，建立了直升机的悬停数学模型。用镜像映射方法和闭环增益成形算法设计了直升机的悬停鲁棒控制器。用Simulink进行了仿真实验，当直升机处于悬停状态时，系统的输出为输入的18%且抖动频率明显降低，当系统加了0.5 s纯滞后模型摄动后，系统的输出为输入的32%且抖动频率明显降低。仿真结果显示系统具有较强的稳定性和鲁棒性。 关键词：水路运输；交通控制；海上搜救模拟器；直升机；悬停控制；鲁棒控制；闭环增益成形 中图分类号：U666.153；TP273.4 Robust hovering control for helicopter in marine search and rescue simulator Zhang Xian-ku, Yin Yong, Jin Yi-cheng (Laboratory of Marine Simulation and Control, Dalian Maritime University, Dalian 116026, Liaoning, China) Abstract：In order to investigate the helicopter simulating system in marine search and rescue simulator, the system configuration of helicopter simulating was given out and the mathematical model for helicopter in hovering state was built. The robust hovering controller for helicopter was designed using mirror-injection method and closed-loop gain shaping algorithm. The simulating experiment was carried out using Simulink, the output was 18% of the input and the vibrating frequency was obviously reduced when the helicopter was in hovering state. The output was 32% of the input and the vibrating frequency was obviously reduced when the system was added a model perturbation of 0.5 s pure time delay. Simulation results show that the system has strong stability and robustness. 4 figs, 8 refs. Key Words: traffic control; marine search and rescue simulator; helicopter, hovering control, robust control, closed-loop gain shaping Author resume: Zhang Xian-ku(1968-), male, Ph D, professor, 86-411 zhangxk@dlmu.edu.cn. 0 引言 水上救助打捞是水运交通特有的行业，是国家履行国际义务、保障社会稳定、促进经济发展、保障海洋运输安全以及维护国家声誉的一项重要社会职责。我国是国际海事组织A类理事国，是《1974年国际水上人命安全公约》和《1979年国际水上搜寻救助公约》的缔约国，“保证对任何水上遇险人员提供搜寻救助服务”、“配备与其任务相适应的搜寻救助设施和设备”、“建立救助协调中心和分中心”是每一个缔约国的国际义务。 我国的海上安全问题形势严峻。近年来(2003.6~2006.6)，中国海上搜救中心及全国各级海上搜救中心共组织、协调海上搜救行动4437次，救助44652人，救助船舶2433艘次GMDSS模拟器、装卸模拟器等，组合为一个具有综合功能的模拟系统。海上搜救模拟器实际上是一种具有海上搜救功能的综合模拟系统。国外如英国的船商公司、RACAL-DECCA公司、丹麦Lyngso-VAMLET Marine公司、美国的Sperry公司等都开展了相关的研究，但到目