零航速减摇鳍改进自适应神经元控制  

Control zero-speed fin stabilizers using an improved adaptive neuron

作　　者：金鸿章[1,2] 王帆 

机构地区：[1]哈尔滨工程大学船舶控制工程教育部工程研究中心,哈尔滨150001 [2]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《哈尔滨工业大学学报》2010年第11期1810-1813,1817,共5页Journal of Harbin Institute of Technology

基　　金：国家自然科学基金资助项目(50575048;50879012)

摘　　要：针对零航速减摇鳍系统使常规PID控制方法难以获得满意的减摇效果这一问题,研究了一种改进自适应单神经元控制器,在不增加神经元结构复杂性的同时,提高了其非线性处理能力.为降低对零航速减摇鳍驱动伺服系统功率的要求,借助最优控制中的二次型指标思想,对神经元参数进行在线自适应调整,实现了对驱动功率的间接约束.证明了在该控制方法下系统的Lyapunov稳定性,并在不同海情下与常规PID控制方法进行模拟比较,展示出该方法解决零航速减摇鳍输入非线性控制的优越性。The system of the zero-speed fin stabilizers controlled by common PID controller can hardly obtain satisfying performance,so an improved adaptive single neuron controller is developed,and the capability for nonlinear processing is improved without increasing the structural complexity of the neuron.To reduce the requirement of the power for driving servo system,from the viewpoint of the quadratic performance index employed in optimal control,the indirect constraint to the driving power is realized by means of online updating parameters in the neuron adaptively.The Lyapunov stability of the system with this control method is proved.Compared with the common PID control under different sea conditions,the advantage for controlling zero-speed fin stabilizer system with nonlinear input is demonstrated.

关 键 词：零航速减摇鳍 输入非线性 自适应神经元 控制约束 

分 类 号：U664.7[交通运输工程—船舶及航道工程]