摘要
随着船舶向着大型化、高速化方向发展,海上交通变得更加拥挤,船舶的航向控制技术引起了研究人员的广泛关注。自动舵是船舶航向控制的关键设备,近代以来出现了PID自动舵、自适应自动舵和智能自动舵等多种形式,实现了船舶运动的精确、灵活控制。本文针对船舶航向控制的非线性响应问题,在传统自动舵系统的基础上,提出了一种基于鲁棒神经网络的船舶运动控制器,建立了海风、海浪等非线性响应的函数模型,并进行了该船舶运动控制器的控制响应仿真。
With the development of large-scale and high-speed ships, the traffic becomes more and more crowded, and the ship's heading control technology attracts the attention of researchers. Autopilot is the key equipment of ship heading control. Since the modern times, PID autopilot, adaptive autopilot and intelligent autopilot have been developed, which realize the accurate and flexible control of ship motion. Aiming at the nonlinear ship course control response, based on the traditional autopilot system, proposes a robust ship motion controller based on neural network, establish the function model of nonlinear response of sea wind and sea wave, and the mathematical model of ship motion control is established and the control response simulation.
出处
《舰船科学技术》
北大核心
2017年第22期37-39,共3页
Ship Science and Technology
关键词
非线性系统
运动控制
神经网络
仿真
nonlinear system
motion control
neural network
simulation
