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Robust adaptive autopilot control algorithm for navigation simulator

A technology of robust self-adaptation and control algorithm, which is applied in the direction of self-adaptive control, general control system, control/regulation system, etc., can solve problems such as not having robustness and adaptability at the same time, and only having adaptability, etc., to achieve improvement Control effect, speed up convergence time, improve the effect of convergence rate

Inactive Publication Date: 2009-12-30
DALIAN MARITIME UNIVERSITY
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AI Technical Summary

Problems solved by technology

[0004] The above existing algorithms are either only robust or adaptive, but not robust and adaptive at the same time

Method used

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  • Robust adaptive autopilot control algorithm for navigation simulator
  • Robust adaptive autopilot control algorithm for navigation simulator
  • Robust adaptive autopilot control algorithm for navigation simulator

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Embodiment Construction

[0030] Below in conjunction with accompanying drawing and embodiment the present invention is described in further detail:

[0031] The invention uses a robust neural network control algorithm, adopts a direct control scheme, and trains the inverse of the controlled object on-line, so that the design of the robust controller becomes simple. On the basis of ensuring the robustness of the system, the neural network is used to deal with the time-varying and nonlinearity of the controlled object; and the most widely used C language in engineering is used to write programs, which has high engineering application value.

[0032] The overall program block diagram of the system is as follows figure 1 As shown, the specific implementation block diagram of the direct control scheme of course keeping is as follows: figure 2 shown.

[0033] The present invention adopts the structure in which the neural network and the mathematical model of ship motion are connected in series to train t...

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Abstract

The invention relates to a robust adaptive autopilot control algorithm for a navigation simulator. Aiming at various ship models in navigation simulator training, a nonlinear mathematic model for ship motion is obtained based on half theoretical calculation and half experimental result, and the nonlinear mathematic model considers the interferences of wind, wave, current, and the like and relates to a low-speed shallow-water model. The designed autopilot algorithm is based on a closed-loop gain shaping simple robust control algorithm and is a new ship autopilot robust adaptive control algorithm having robustness and adaptability by combining a neurotic network direct controlling training method. The robust adaptive autopilot control algorithm has adaptability by considering the robustness of a ship motion control algorithm as well as the complexity of ship navigation and solves the problem that the prior algorithm has either robustness or adaptability and can not have both.

Description

technical field [0001] The invention relates to a ship autopilot control algorithm for a navigation simulator, in particular to a ship autopilot control algorithm with both robustness and adaptability. Background technique [0002] Ship motion has the characteristics of large inertia, the time constant is tens of seconds or even hundreds of seconds, and the rudder response is slow; ship motion is also inherently nonlinear and time-varying, and the steering gear that performs motion control also has dead zones and saturation and other nonlinear characteristics; the change of ship parameters will cause model perturbation; and it has the objective conditions of complex operating environment. These factors can all affect the ship and cause it to go off course. Therefore, course keeping is not only the guarantee for the ship to reach the destination safely, but also the basis for issues such as track tracking, dynamic positioning and automatic collision avoidance. In order to s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/02G06N3/08
Inventor 张显库金一丞尹勇任鸿翔肖义升张秀凤刘秀文李志华张百安任俊生孙霄峰马烈
Owner DALIAN MARITIME UNIVERSITY
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