基于无源性的船舶直线航迹控制设计-控制理论与控制工程专业论文.docxVIP

中文摘要摘要 中文摘要 摘要 耗散性系统理论自上世纪70年代提出以来在系统稳定性的研究过程中起到重 要的作用。针对不同的供给率，耗散系统理论的侧重点也有所不同。无源控制正 是耗散控制理论中供给率为输入输出信号之乘积形式的一个特例，体现了系统在 有界输入条件下能量的衰减特性。无源性理论主要用于分析非线性系统的稳定性 问题，其稳定性结果由无源系统的稳定性性质得出。事实上，基于李雅普诺夫函 数的镇定理论，也可以从无源性的角度加以解释，即在对系统进行镇定时，对李 雅普诺夫函数的构造可以转化为对系统无源的存储函数的构造。 随着海上运输量的增加，船舶趋向大型化和高速化，导致海上的交通密度不 断加大，航行安全越来越受到威胁。与此同时，为了节省燃料消耗，提高营运的 经济效益，减轻操作人员的劳动强度，人们开始探索高智能化船舶的研究和开发， 可以说这已成为当前世界上主要航运国家的一个重要研究课题。高智能化船舶的 基本要求是船舶运航自动化，其中的一个方面便是船舶的航迹控制自动化。本文 将无源性系统理论引入船舶直线航迹控制，利用Backstepping设计方法，提出了 一种鲁棒全局状态反馈控制器，使得闭环系统是无源且渐近稳定的。同时，运用 MATLAB软件进行仿真，验证了在该控制器的作用下，系统在无外界干扰和有外 界干扰两种情况中的稳定性。 关键字：无源性；直线航迹；存储函数；Backstepp i ng 英文摘要A 英文摘要 A Robust Design Based on the Passivity Theory for the Linear-Course Traj ectory Contro 1 ofShips Abstract Since the 1 970s，Dissipative Systems Theory has been playing an important role in the study of the system stability．For the different supply rates，the theory of dissipative systems has different emphases．We consider Passivity Systems as a special Dissipative Systems，in which supply rate is represented by the product of the system input and output．Passivity Theory primarily analyzes stability of nonlinear systems，whose stable result is obtained from the stable character of passivity systems．In fact，the stabilization Function based on Lyapunov function can also be explained on the perspective of passivity．During stabling the system，structuring the Lyapunov function cail be transformed into structuring the storage function． With the increasing in maritime transport，ships are trending to large—scale and high—speed，which lead to the sea traffic density increasing and make the safety of navigation increasingly under threat．At the same time，in order to save fuel consumption，improve the operation of economic efficiency,reduce the intensity of the operation of the operatoL save labor,people have begun to explore the ship’s high-tech research and development．It can be said that this has become an important research topic of the world’s major shipping countrie