【作者】 刘胜； 王宇超； 傅荟璇；

【Author】 LIU Sheng,WANG Yuchao,FU HuixuanCollege of Automatization,Harbin Engineering University,Harbin 150001,P.R.China

【机构】 哈尔滨工程大学自动化学院；

【摘要】 针对船舶航向运动具有强非线性和时滞性,并受各种不确定随机干扰作用,提出了基于最小二乘支持向量机与模糊逻辑的船舶航向保持复合控制方案,该控制方案充分利用最小二乘支持向量机良好的非线性映射能力,建立船舶操纵系统的逆动力学模型,产生前馈补偿信号,并与模糊控制复合形成控制闭环,通过协调控制因子保证控制器初始投入初期稳定收敛。仿真结果表明,本文所设计的航向保持控制系统效果良好,对海情的变化具有较好的自适应能力。更多还原

【Abstract】 A compound control strategy based on least squares support vector machine inverse control and fuzzy control was proposed with a nonlinear and high order time-varying process of ship motion that it was subjected to kinds of random disturbance.This method not only utilized the merits of support vector machine inverse dynamic model that had good generalization and produced feed forward signal of rudder angle,but also combined the advantages of fuzzy control that formed closed-loop control and guaranteed the controller convergence of starting process by coordination factor.The simulation results showed that the compound control algorithm had a high performance in control quality of ship course-keeping and good adaptive ability for the variety of ocean condition.更多还原