【作者】 杨文菊；

【导师】 孟宪尧；

【作者基本信息】 大连海事大学 ， 控制理论与控制工程， 2005， 硕士

【摘要】 本文研究采用自适应神经模糊控制器对船舶拖缆机进行控制的方法。论文对自适应神经-模糊推理系统(ANFIS)(Adaptive Neuro-Fuzzy Inference Systems)的原理和及其控制器的实现做了较深入的分析和仿真研究,并对在拖缆机控制系统中的实现进行了探讨。 本文分析了船舶拖缆机的工作原理,并经过简化,建立了拖缆机工作的数学模型。然后深入研究了自适应神经模糊系统,在这一部分中,首先简要介绍了模糊控制的原理:然后引入了自适应神经-模糊推理系统(ANFIS),讨论了ANFIS的算法和原理;最后讨论了ANFIS控制器的具体实现过程,包括程序的实现和通过MATLAB工具箱的仿真实现。 在建立了模型和控制器的基础上,本文设计了船舶拖缆机的自动控制系统,并对控制系统进行了仿真。通过将ANFIS控制系统的仿真结果与PID控制系统的仿真结果相比较,可以看到,采用ANFIS控制器输出要比先前的PID控制器输出的幅度小,变化趋势也相对比较平缓,而且,由PID控制器组成的控制系统会在经过一段时间后出现不稳定的情况,而由ANFIS控制器组成的控制系统可以一直保持稳定状态:此外,当航向控制出现不稳定时,ANIFS控制系统对于这种突发情况的应变能力也要比PID控制系统强。这些都说明了ANFIS控制系统具有较强的鲁榜性和自适应性。 经过本文的分析和仿真研究,可以看出对于在复杂工况下工作的拖缆机来说,采用ANFIS控制器无疑是一个很好的选择,可以满足实际控制系统的需要。更多还原

【Abstract】 The method a towing engine is controlled by Adaptive Neuro—Fuzzy controller is studied in this paper. The principle and controller realization of ANFIS (Adaptive Neuro—Fuzzy Inference Systems) is embedded studied and simulated and its application in towing engine control system is researched.The principle of towing engine is studied in the paper, and with predigestion, the math model is build. And then, Adaptive Neuro—Fuzzy system is researched, and in this part, above all the theory of fuzzy control is briefly introduced; then ANFIS is imported and its arithmetic and principle is embedded researched; finally realization of ANFIS controller is studied, including the realization by program and MATLAB toolbox.Base on the model and controller, control system is designed, and the control system simulation is carried out. By comparing the ANFIS system with PID system, it can be realized that the changing trend of ANFIS system is more plane than PID system, and unstable instance will happen in PID system later, but in ANFIS system stabilization will be holding. Furthermore, when course control is not stable, the adaptive ability of ANFIS is also stronger than PID. All of these have verified the strong adaptability of ANFIS system.By analyse and simulation study, it can be made out that to winch tugboat working at the complex condition, ANFIS is an advisable choice undoubtedly, and it can satisfy the need of control system.更多还原