【摘要】 针对大型船舶控制特性,设计了船舶航向的神经网络二阶导数多步预测模型及其辨识和预测算法,提出基于径向基函数神经网络多步预测模型和模糊小脑模型关节神经网络控制器的大时滞船舶航向模糊控制自动舵方案,解决传统自适应控制中模型的在线辨识和控制器的在线设计问题,以达到对具有大时滞、不确定非线性特性的大型船舶实现高精度输出跟踪控制.仿真结果表明对设定航向具有精确的跟踪控制效果.更多还原

【Abstract】 Aiming at the control feature of large ship,the authors designed a 2-rank derivative multi-step neural network predictive model and the algorithm of the large delay ship’s course,and presented a fuzzy control autopilot scheme based on the model with RBF neural network and FCMAC controller,it solved problems of model online identification and controller online design in traditional adaptive control,so that the high precision output follow-up control of large ship with large delay and uncertain nonlinear features can be realized.Simulation results showed that the method have perfect control effect.更多还原