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零航速减摇鳍两步主从控制律设计

DOI: 10.3724/SP.J.1004.2012.01059, PP. 1059-1064

Keywords: 零航速减摇鳍,输入非线性,两步主从控制,约束模型预测控制

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Abstract:

?零航速减摇鳍水动力特性与升力式减摇鳍存在本质差异,前者与鳍角、角速度、角加速度构成多约束动态非线性映射,不满足后者的近似线性关系,导致对抗式PID控制无法适用.针对零航速减摇鳍系统特有的动态输入非线性及整体结构,借助非线性分离策略,提出并设计基于变约束模型预测控制与数值迭代反演的两步主从控制律.仿真结果表明,控制器性能良好,但受物理性硬约束影响,零航速减摇效率随海情增加而呈非线性递减趋势.

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