基于节能省时航行的新型航向控制系统设计  

Designing new course controller based on reducing navigational time and power consumption

作　　者：陈进涛[1] 张亚冲[2] 王仁强[1] 

机构地区：[1]江苏海事职业技术学院,江苏南京211170 [2]江苏海事局,江苏南京210008

出　　处：《舰船科学技术》2013年第11期99-103,108,共6页Ship Science and Technology

基　　金：江苏省教育科学"十二五"规划重点课题(B-a/2011/03/008);江苏省高校大学生实践创新指导课题(2012JSSPITP3772)

摘　　要：为设计出既能缩短航程又能降低能耗的新型船舶航向控制系统,本文系统分析了船舶运动的非线性数学模型和常规的航向比例-微分-积分(PID)控制算法;在此基础上运用遗传算法(GA)在线自动优化整定常规的PID控制参数,从而实现反馈控制和保证系统的稳定性,运用小脑模型(CMAC)神经网络进行前馈非线性控制、进而抑制源自船舶内外部的非线性干扰,最终确保系统的控制精度和响应速度;在船舶操纵模拟器上对所设计的新型航向控制系统作了仿真试验,试验结果表明:该系统性能优越可靠且具有较强的鲁棒性。For designing a ship course controller to reduce navigational time and power consumption, a nonlinear mathematical model of ship motion and the current ship course PID （proportional,integral and differential） control algorithm are analyzed thoroughly ; On basis of that, GA （genetic algorithms） is used to optimize PID parameters online to achieve feedback control and ensure system stability, CMAC （cerebellar model articulation controller）neural network is used to achieve feed-forward nonlinear control and restrain disturbance from internal and external environment so as to ensure control accuracy and response speed finally;At last, new ship course controller simulation is carried out by ship-maneuvering simulator, and the simulation result shows that new ship course controller has superior performance and robustness.

关 键 词：CMAC神经网络 遗传算法 PID控制 航向控制系统 

分 类 号：U666.153[交通运输工程—船舶及航道工程]