中文摘要：

针对船舶航向保持时,由于舵机速率与幅值饱和,导致闭环系统性能下降,甚至不稳定问题,提出了静态抗饱和控制算法。首先用线性系统理论求出的静态无约束控制规律,在控制器中加入幅度与速率饱和模型,再以最小化扰动到被调输出的非线性L2增益为目标,使控制问题转化为具有线性矩阵不等式约束的凸优化问题,进而求出静态抗饱和补偿增益。设计的控制器简单,满足船舶航向控制精度和节约能源性能要求,解决了由于舵机速率饱和导致的闭环系统不稳定问题,最后通过仿真进行了验证。

英文摘要：

Since rudder amplitude and slew rate saturation may lead to the performance deterioration or even the instability of the closed-loop system,the static anti-windup control algorithm is proposed.Firstly,the static unconstrained control law is designed by the linear system theory.Then the amplitude and rate saturation model is absorbed into the controller.By minimizing the nonlinear L2 gain from disturbance to the manipulated output,the control problem is expressed as a convex optimization routine subjected to linear matrix inequality constraints.Thus the anti-windup compensator gain is obtained.The designed controller is simple and satisfies the performance requirements of the ship course precision and saving power.The instability problem induced by the rudder slew rate saturation is solved.Finally,the results are justified by simulation.