CAJ | 학술논문

为实现无人水下航行器（UUV）在测量状态受外界干扰或不可量测时的纵倾控制，设计一种基于线性矩阵不等式(LMI)的H∞滤波器来估计状态量并进行纵倾控制。针对纵倾控制系统方程的系统矩阵在虚轴上存在极点的问题，利用特殊双线性变换方法对系统方程进行变换使之满足滤波器设计要求。针对UUV纵倾控制系统中部分测量状态受干扰而引起控制器输出振荡的问题，基于LMI为特殊双线性变换后的UUV纵倾控制系统设计了一个鲁棒H∞滤波器，再经过反变换得到所需的滤波器。该UUV纵倾控制系统的仿真结果表明，该滤波器能够消除测量噪声的影响，运动状态估计值准确并可提高UUV纵倾控制系统的控制品质。
위실현무인수하항행기（UUV）재측량상태수외계간우혹불가량측시적종경공제，설계일충기우선성구진불등식(LMI)적H∞려파기래고계상태량병진행종경공제。침대종경공제계통방정적계통구진재허축상존재겁점적문제，이용특수쌍선성변환방법대계통방정진행변환사지만족려파기설계요구。침대UUV종경공제계통중부분측량상태수간우이인기공제기수출진탕적문제，기우LMI위특수쌍선성변환후적UUV종경공제계통설계료일개로봉H∞려파기，재경과반변환득도소수적려파기。해UUV종경공제계통적방진결과표명，해려파기능구소제측량조성적영향，운동상태고계치준학병가제고UUV종경공제계통적공제품질。
To deal with the pitch control of UUV in the presence of measurement noise and the lack of state measurements, an H∞ filter is proposed to estimate related states in motion control using LMI method. A special bilinear transform method is introduced to overcome the issue that the system matrix of the pitch control equation has a pole on the imaginary axis, which does not meet the design requirements of filter. In order to eliminate the vibration of the stern elevator caused by disturbances of the states in the pitch control system, a robust H∞filter is designed for the transformed system. Afterwards the required filter is obtained by inverse transformation. Simulation results demonstrate that the proposed filter, with an accurate estimation to the system states, is effective to eliminate the negative effects caused by measurement noise, and can enhance control quality.