基于神經(jīng)網(wǎng)絡控制的船舶航跡自動舵技術.pdf

1、哈爾濱工程大學碩士學位論文基于神經(jīng)網(wǎng)絡控制的船舶航跡自動舵技術姓名：蘇會會申請學位級別：碩士專業(yè)：導航、制導與控制指導教師：袁贛南20090201哈爾濱T稃大學碩十學位論文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