Feedforward Based Linear Quadratic Optimal Tracking Control for a Class of Heavy Disturbance Systems

Abstract

The ship steering system is a typical electro-hydraulic servo system, which has the characteristics of non self-balance, large inertia, heavy load and uncertain disturbance. The load of the ship determines the depth of the draught. The depth of the draught determines the load of the steering system. The load of the rudder directly affects the dynamic and static tracking accuracy of the steering angle of the rudder. Therefore, the ship load is an important part of the ship steering system, and the establishment of a complete and accurate mathematical model is the necessary condition for the accurate control of the system. Based on the characteristics of the ship steering system, a general mathematical description with an uncertain disturbance system is presented. In order to obtain good performance of tracking control and resistance to load disturbance, a feedforward linear quadratic optimal tracking control method is proposed. The ship steering system designed based on this method can not only make the steering angle fast and accurately track the given, but also effectively suppress the heavy load uncertain disturbance. The simulation results show that feedforward linear quadratic optimal tracking control system has good tracking control performance and strong resistance to heavy load disturbance.