论文标题
船的基于神经网络的标题和位置控制系统
A neural network based heading and position control system of a ship
论文作者
论文摘要
船只的标题和位置控制系统仍然是一个具有挑战性的控制问题。它是一个非线性多重输入多重输出系统。此外，系统的动力因操作和环境条件而异。通常，使用了具有众所周知的局限性的简单比例积分衍生物控制器。还研究了其他常规控制技术，但它们需要船舶的准确数学模型。不幸的是，数学模型的准确性很难实现。在过去的几十年中，当无法获得准确的数学模型时，计算智能技术（例如人造神经网络）非常成功。因此，在本文中，提出了用于标题和位置控制系统的人工神经网络控制器。为了模拟，已经选择了一个具有四个有效推进器的数学模型来测试所提出的控制器的性能。通过模拟研究对最终的闭环系统进行了分析和测试。结果非常令人鼓舞。
Heading and position control system of ships has remained a challenging control problem. It is a nonlinear multiple input multiple output system. Moreover, the dynamics of the system vary with operating as well as environmental conditions. Conventionally, simple Proportional Integral Derivative controller is used which has well known limitations. Other conventional control techniques have also been investigated but they require an accurate mathematical model of a ship. Unfortunately, accuracy of mathematical models is very difficult to achieve. During the past few decades computational intelligence techniques such as artificial neural networks have been very successful when an accurate mathematical model is not available. Therefore, in this paper, an artificial neural network controller is proposed for heading and position control system. For simulation purposes, a mathematical model with four effective thrusters have been chosen to test the performance of the proposed controller. The final closed loop system has been analyzed and tested through simulation studies. The results are very encouraging.
