基于神經(jīng)網(wǎng)絡(luò)控制的船舶航跡自動(dòng)舵技術(shù).pdf

1、哈爾濱工程大學(xué)碩士學(xué)位論文基于神經(jīng)網(wǎng)絡(luò)控制的船舶航跡自動(dòng)舵技術(shù)姓名：蘇會(huì)會(huì)申請(qǐng)學(xué)位級(jí)別：碩士專業(yè)：導(dǎo)航、制導(dǎo)與控制指導(dǎo)教師：袁贛南20090201哈爾濱T稃大學(xué)碩十學(xué)位論文AbstractAlong謝mthedevelopmentofshippingbusiness，shipsarebecomingbigger，fasterandmoreintelligentBecausethereisprodigiousinertiawhenabig

2、gershipissailing，thehighperformanceismaneuverisdemandedBesides，withtheincreaseofshipnumberandtheappearanceofspecialships，thesealaneandtheportarebecomingrelativenarrowItisbecomingmorecomplicatedandmoredifficultToensuresaf

3、etyandraiseeconomicitisnecessarytoadoptthenewcontroltheory，controlstrategyandtechniqueInourcountry，shipsmountthePIDautopilotbroadly，whichhascoursecontrolfunctionButtrackcontrolisnecessaryasfaraslongtimenavigationisconcem

4、ed，foritCallcutdowntheworkingintensityofseamen，improvethesecurityFuzzycontrol，neuralnetworkscontrol，robustcontrolforuncertainsystemsanditsapplicationstoshipmotioncontrolandgeneticalgorithminshipsteeringmotioncontrolsyste

5、maresystemicallyinvestigatedinthisthesisInthispaper，itisestablishingship’Smaneuveringmotionequations，introducingthemathematicalmodelofinterferencesuchastheseabreeze，currentsandwavesThenneuralnetworkmodelandalgorithmisint

6、roducedandneuralnetworkPIDcontrollerisdesignedbasedonthiscombinationofPIDalgorithm，simulationrestatsshowsthattheresultsalemoresatisfactorywhenexistinginterferenceForgettingbettercontroleffect，basedonanalyzingtheshipsaili

7、ngcontrolandimplementofalgorithms，combinedneuralnetworktrainingprogram，neuralnetworkinnermodelturnedcontrollerandfuzzyneuralnetworktrackautopilotaredesignedinthisarticle，respectivelycontrollingthetrackoftheshipandthepilo