Ship course intelligence controller based on incomplete recursive branch-set dynamic neural network

A dynamic neural network, intelligent controller technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as lack of effective control, and achieve improved control effect, small steering amount, and ship heading switching. Control process for fast effects
CN105446136AInactive Publication Date: 2016-03-30CHANGAN UNIV
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Patent Information

Authority / Receiving Office
CN Β· China
Current Assignee / Owner
CHANGAN UNIV
Publication Date
2016-03-30
Estimated Expiration
Not applicable Β· inactive patent

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Abstract

The invention discloses a ship course intelligence controller based on an incomplete recursive branch-set dynamic neural network. The controller comprises an input conversion device, a steering engine controller and a neural network controller which are successively connected. The incomplete recursive branch-set dynamic neural network is established in the neural network controller and a ship course prediction control strategy is given out. By using the controller of the invention, a problem that a traditional steering engine controller can not control a large lagged ship accurately is solved; and a ship course switching control process is rapid and smooth and a steering amount is small so that high-precision ship course control is realized.
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Description

technical field

[0001] The invention relates to the field of computer intelligent ship motion control, in particular to an intelligent ship heading controller based on an incomplete recursive support dynamic neural network model. Background technique

[0002] Ship motion is a complex control problem, which is a dynamic process with large inertia, large time delay, nonlinearity and time-varying parameters. For example, the time constant of a 10,000-ton oil tanker can reach more than 100s, and the response to the rudder is slow. Some open-loop unstable ships even have an abnormal response to the rudder (turning the right rudder bow within a certain rudder angle limit turns left instead. ), its control is quite difficult. At the same time, the motion characteristics of the ship change with the speed, load, trim, water depth and other factors, and the disturbance characteristics also vary with the sea conditions such as waves, winds, and currents. Therefore, the ship motion con...

Claims

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