基于神经网络的零航速减摇鳍模型参考自适应控制设计  

Modelreference adaptive control design based on neural network for fin stabilizer at zero speed

作　　者：齐雪 石满红 董姗姗 潘花 QI Xue;SHI Manhong;DONG Shanshan;PAN Hua(College of Information and Network Engineering,Anhui Science and Technology University,Fengyang 233100,China)

机构地区：[1]安徽科技学院信息与网络工程学院,安徽凤阳233100

出　　处：《安徽科技学院学报》2023年第4期79-86,共8页Journal of Anhui Science and Technology University

基　　金：安徽省高校自然科学研究重点项目(KJ2021A0894,2022AH051651);安徽省高校优秀拔尖人才培育计划项目(gxyq2021200);安徽省大学生创新创业训练计划项目(202210879111)。

摘　　要：目的:鉴于零航速下船舶横摇模型参数的不确定性,采用自适应控制方法使船舶横摇角跟踪指定参考模型的响应。方法:由于零航速减摇鳍模型结构的非线性及参数的不确定性,选择一个关于减摇鳍鳍角速度的可逆函数重构减摇鳍动态系统,再用径向基函数神经网络逼近函数重构误差,从而通过设计鳍角速度达到船舶减横摇的作用。结果:通过李雅普诺夫稳定理论及仿真试验表明,本研究所设计的控制器具有较强的自适应性。结论:该方法既解决了横摇模型不确定性控制问题,又解决了升力模型非线性控制问题,具有工程应用价值。Objective:As the parameters of ship rolling model at zero speed are uncertain,the adaptive control method is proposed to let ship's roll angle track the response of the specified reference model.Methods:As the nonlinear model structure and uncertain parameters of fin stabilizer,select a reversible function about angular velocity of fin stabilizer to reconstruct the dynamics of fin stabilizer at zero speed.A radial basis function neural network approximates the function reconstruction error.And thus we can design the fin's angular velocity to achieve the role of ship roll reduction.Results:Based on Lyapunov stability theory and simulation results,the adaptability of the proposed control method for uncertainty of the ship roll model is verified.Conclusion:This article addresses the nonlinear control problem of lift models.The proposed control method has certain engineering application value.

关 键 词：零航速 减摇鳍 神经网络 自适应控制 

分 类 号：O231.2[理学—运筹学与控制论]