针对具有非线性、强耦合性及参数不确定性的小水线面双体船(SMAll WATEr-PlAnE ArEA TWIn Hull,SWATH)纵向运动多变量控制系统,采用自抗扰控制(ACTIVE dISTurbAnCE rEJECTIOn COnTrOl,AdrC)多变量解耦控制方法设计鲁棒镇定控制器.AdrC主要特点是实时估计对象模型摄动和外扰的总和作用量,并在控制回路中加以补偿,实现对象的实时动态反馈线性化.建立了某型号SWATH纵向运动AdrC多变量解耦控制系统,并与线性二次型调节器控制效果进行比较.数值仿真表明,该控制器对模型的不确定性和外部扰动具有较好的鲁棒性和适应能力.A robust stabilization controller based on the active disturbance rejection control(ADRC)technique for a specific small water-plane area twin hull(SWATH)is presented to deal with the high nonlinearity,strong coupling and parametric uncertainties.The ADRC has the feature of estimating the combined action of the perturbation and external disturbance in real time so as to compensate for it in the control loop.Additionally,the multi-variable decoupling based on ADRC will represent the nonlinear model of a plant as a linear one,which is convenient to control for engineers.In order to show the effectiveness of the ADRC-based controller proposed in this paper,a comparison with the controller from linear quadratic regulator theory is made in simulation.Simulation results show that the designed controller has good robustness and adaptability under modeling uncertainties and external disturbances.海军总装部预研课题(XDHT2012223A
