非线性船舶模型运动控制中鲁棒神经网络的应用  

Application of therobust neural network in motion control of nonlinear ship model

作　　者：尤冬梅 孙英培 YOU Dong-mei;SUN Ying-pei(Hebi Institute of Engineering and Technology,Henan Polytechnic University,Hebi 458030,China)

机构地区：[1]河南理工大学鹤壁工程技术学院,河南鹤壁458030

出　　处：《舰船科学技术》2022年第12期161-164,共4页Ship Science and Technology

摘　　要：非线性运动是欠驱动和处于系泊状态船舶的主要运动形式,此时船舶不仅受到动力系统螺旋桨的作用力,也受到海浪、海风的干扰作用力,此时船舶的运动控制对于船体安全性、稳定性有非常重要的意义。鲁棒神经网络是将神经网络控制算法与鲁棒控制器相结合的一种算法,本文将鲁棒神经网络控制技术应用于非线性船舶模型的运动控制中,在船舶非线性运动数学模型、螺旋桨动力学模型的基础上,对其航向等运动控制进行研究。Nonlinear motion is the main motion form of underactuated and moored ships.At this time,the ship is not only affected by the force of propeller of power system,but also by the interference force of wave and sea wind.At this time,the motion control of ship is of great significance to the safety and stability of ship hull.Robust neural network is an algorithm that combines neural network control algorithm with robust controller.In this paper,robust neural network control technology is applied to the motion control of nonlinear ship model.Based on the nonlinear motion mathematical model of ship model and propeller dynamics model,its heading and other motion control are studied.

关 键 词：非线性 运动控制 鲁棒神经网络 动力学模型 

分 类 号：U661.33[交通运输工程—船舶及航道工程]