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由于船舶航行时,受到海浪、海风、海流等随机扰动的影响,这些扰动以海浪引起的横摇运动最为显著,却无法直接测量.船舶的装载状态和船速的变化,使船舶运动的数学模型存在参数不确定性,在考虑前两种情况下,建立船舶横摇随机系统的不确定数学模型,设计鲁棒滤波器,利用李雅普诺夫稳定性理论推导出使系统均方渐近稳定且满足鲁棒H∞性能的滤波器存在的充分条件,通过标准数值软件进行求解及仿真,验证所采用方法的有效性及可行性.
Due to the random disturbances such as waves, sea breeze and currents, the ship’s navigation is most notable for the rolling motion induced by waves but can not be measured directly. The changes in the loading status and speed of the ship make the mathematical model The uncertainty of the parameters exists. Considering the first two cases, an uncertain mathematical model of the random system of ship rolling is established, and a robust filter is designed. According to the Lyapunov stability theory, the mean square of the system is asymptotically stable and satisfies Sufficient conditions for the existence of robust H∞ filter are verified by standard numerical software to verify the effectiveness and feasibility of the proposed method.