【摘要】 提出了CMAC与PID复合控制的算法,并以此用于船舶非线性横摇减摇鳍中。以PID控制为反馈控制来保证控制系统的稳定性且抑制扰动,以CMAC为前馈补偿控制器实现系统的逆动态模型来确保系统的控制精度和响应速度。为了提高CMAC神经网络实时在线学习的快速性和准确性,采用了基于信度分配的CA-CMAC-AMS学习算法。其仿真结果与传统的数字PID控制相比较,表明了该复合控制提高了减摇鳍控制系统的减摇效果,并具有较强的抗干扰能力和鲁棒性。更多还原

【Abstract】 This paper designed the combined control system for fin stabilizers based on CMAC and PID,according to nonlinear rolling model of ship.This method realized the feedback control by using traditional PID controller and realized the feed forward control by using CMAC neural network to increase the response speed and control precision.Reliability is based on the distrution of CA-CMAC-AMS learning,which is In order to improve the speed and accuracy of real-time learning of CMAC neural network.The simulation results have showed that the fin stabilizer system has remarkable control effect and have possessed the advantages of strong ability of anti-interfere and robustness.更多还原