【作者】 张松涛；

【导师】 任光；

【作者基本信息】 大连海事大学 ， 轮机工程， 2006， 博士

【摘要】 船舶运动控制是一个重要的研究领域，其目的是提高船舶自动化、智能化水平，进而保证航行的安全性、经济性和舒适性。近二十年来控制论的全面繁荣为船舶运动控制系统的设计提供了诸多控制算法，特别是模糊控制理论被引入到该领域后，为船舶运动控制科学的发展注入了活力。 模糊控制特别适合于处理那些难以建立精确数学模型的复杂控制问题。相对于目前模糊控制在工业应用方面取得的巨大进展，模糊控制理论的发展则滞后了一些。模糊控制理论的研究包括解决模糊控制系统中关于稳定性分析、系统的设计方法、控制系统性能的提高等核心问题。针对目前应用广泛的T-S模糊控制系统，在深入研究模糊控制系统的稳定性及控制器设计基础上，将这些模糊控制理论应用于船舶运动控制，推进船舶控制理论的发展。主要研究工作如下： 船舶运动数学模型是研究船舶运动操纵和控制的基础。针对船舶模型的非线性、时变性和不确定性的特点，首先在讨论船舶操纵运动线性和非线性数学模型的基础上，结合由于航速及装载状态等的变化引起的模型参数不确定性以及外界风、浪、流的干扰不确定性，研究了一种Norrbin不确定船舶运动建模问题。 针对连续的T-S模糊控制系统，定义了有效最大交叠规则组集和有效最大交叠规则组的概念。基于这两个概念和Lyapunov稳定性理论，提出了一种模糊控制系统的稳定性分析及系统设计方法，给出了经由并行分布补偿(PDC)原理设计模糊控制器保证模糊系统稳定的充分条件。此方法不仅降低了寻找公共正定矩阵方法和在每个最大交叠规则组中分别寻找一个局部公共正定矩阵方法的保守性和难度，而且这些方法作为特例包含于所提出的方法中。为证明该方法的可行性，给出了连续的非线性Norrbin船舶运动系统的模糊控制器设计实例。 针对离散的T-S模糊控制系统，在分析模糊系统前件规则结构信息的基础上，将模糊Lyapunov函数和分段Lyapunov函数相结合，构造出一类模糊系统的分段模糊Lyapunov函数。采用并行分配补偿(PDC)技术，利用分段模糊Lyapunov函数进行了模糊系统的稳定性分析与控制器设计。该方法减少了模糊Lyapunov函更多还原

【Abstract】 The ship motion control is an important research field. The objective of the ship control is to improve the automation level and the intellectualized level of ship, and to ensure that the navigation of ships is safe, economical and comfortable. Much more control algorithms of the ship motion control systems benefited from the boom of cybernetics in near 20 years. Among of these control algorithms, the fuzzy control theory introduced in this field provides the new possibility for the development of ship control science.Fuzzy control is appropriate for the control of complicated systems which is difficult to build system model. Compared with the great progress in industrial application of fuzzy control, the development of fuzzy control theory is lagged. The research on fuzzy control theory includes a series of key problems, such as the stability analysis, system design methods and the improvement of the system performances. Based on widely used T-S fuzzy model, this thesis discusses the problems of the stability analysis and the control design of T-S fuzzy systems in detail. Then, these research results are applied to ship motion control to accelerate the development of ship control theory. The main contributions are as follows:The model of ship motion provides a foundation for the research on the ship steering and control. Aimed at the characteristics of ship, such as non-linearity, time-varying, uncertainty, the linearity and non-linearity mathematical models of ship motion are discussed in the thesis firstly. Then, by combining parameter uncertainties caused by changing of ship speed or load state and disturbance uncertainties caused by wind, wave and current, a kind of Norrbin uncertain model for simulating ship motion is presented.For continuous T-S fuzzy control systems, an efficient maximal overlapped-rules group set (EMORGS) and an efficient maximal overlapped-rules group (EMORG) are defined. Based on EMORGS, EMORG and Lyapunov stability theory, the stability更多还原