SIA OpenIR  > 水下机器人研究室
一类载人潜水器的改进LQG控制研究
Alternative TitleResearch on Modified LQG Control of Manned Submersible Vehicle
刘开周; 王晓辉; 郭威; 封锡盛
Department水下机器人研究室
Source Publication系统仿真学报
ISSN1004-731X
2006
Volume18Issue:S2Pages:847-850
Indexed ByEI
EI Accession number20064710259049
Contribution Rank1
Funding Organization国家“十五”863重大专项课题资助项目(2003AA401000)
Keyword载人潜水器(Msv) 改进lqg控制 系统辨识 平方根法 动力定位
Abstract针对一类载人潜水器(MSV,MannedSubmersibleVehicle)在动力定位中多自由度之间存在的强耦合、非线性,以及系统参数的时变特性,文章采用带遗忘因子的递推最小二乘法和平方根法对系统参数进行辨识,然后在状态空间进行多输入多输出(MIMO)线性系统的最优控制研究。仿真结果表明,该两种改进LQG控制方法对于外界扰动以及系统的参数时变具有良好的控制效果,控制精度得到提高,为实际载人潜水器控制系统的多自由度动力定位控制提供了坚实的依据。
Other AbstractDue to the couple, nonlinear, and time-variety characteristic of a class of manned submersible vehicle (MSV) between their multiple DOFs in dynamic positioning (DP), the method of modified LQG (MLQG) controller was designed. After recursive least square with forgetting factor algorithmic and square root algorithmic compared, the LQG optimal control method in state space was used in the MSV MIMO (multiple input multiple output) system. The simulation results show that the two kinds of MLQG controllers have better control effect when the system parameter changes. And this study results will provide solid foundation in further reality of the MSV DP software controller.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/3618
Collection水下机器人研究室
Corresponding Author刘开周
Affiliation1.中国科学院沈阳自动化研究所
2.中国科学院研究生院
Recommended Citation
GB/T 7714
刘开周,王晓辉,郭威,等. 一类载人潜水器的改进LQG控制研究[J]. 系统仿真学报,2006,18(S2):847-850.
APA 刘开周,王晓辉,郭威,&封锡盛.(2006).一类载人潜水器的改进LQG控制研究.系统仿真学报,18(S2),847-850.
MLA 刘开周,et al."一类载人潜水器的改进LQG控制研究".系统仿真学报 18.S2(2006):847-850.
Files in This Item: Download All
File Name/Size DocType Version Access License
XTFZ2006S2239.pdf(677KB) 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[刘开周]'s Articles
[王晓辉]'s Articles
[郭威]'s Articles
Baidu academic
Similar articles in Baidu academic
[刘开周]'s Articles
[王晓辉]'s Articles
[郭威]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[刘开周]'s Articles
[王晓辉]'s Articles
[郭威]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: XTFZ2006S2239.pdf
Format: Adobe PDF
This file does not support browsing at this time
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.