Intelligent ship autopilot self-adaptive fuzzy output feedback control method and system

Abstract

The invention provides an intelligent ship autopilot self-adaptive fuzzy output feedback control method and system. A shipborne computer obtains a course tracking error dynamic state and a course tracking transformation system based on course angle error dynamic states of an intelligent agent and a virtual leader reference signal and error dynamic states of a state variable of the intelligent agent and a virtual control function; a tracking performance index for obtaining a strategy utility function is designed according to the course tracking error and a preset tracking performance threshold, a cost function for designing a fuzzy evaluation module is obtained by utilizing a general approximation principle and a Bellman principle of a fuzzy logic system, and a fuzzy evaluation adaptive update rate is designed; the control input rudder angle of the system is obtained and a rudder angle instruction is transmitted to a ship steering engine to output a ship course angle so that course trajectory tracking consistency control of the system is realized. The method and the system effectively reduce the energy consumption of the controller, reduce the wear of the steering engine, and improve the control precision of the course angle tracking error of the intelligent ship autopilot.

Description

technical field [0001] The invention relates to the technical field of ship motion intelligent control, in particular to an adaptive fuzzy output feedback control method and system for an automatic rudder of an intelligent ship. Background technique [0002] The movement of intelligent ships has the characteristics of large time lag, large inertia, and nonlinearity. Changes in speed and loading produce parameter perturbations in the control model. Uncertainty is created by the ship's heading control system. In response to the problems caused by these nonlinear uncertainties, intelligent algorithms are continuously applied to the field of intelligent ship heading control, such as adaptive control, robust control, fuzzy adaptive control, iterative sliding mode control, and least parameter learning methods. Considering a ship system with a time limit for executing tasks, the limited ship needs to track the specified course angle within a specified time, that is, there are cert...

AI Technical Summary

Problems solved by technology

Considering a ship system with a time limit for executing tasks, the limited ship needs to track the specified course angle within a specified time, that is, there are certain preset performance constraints on the course angle output, and the complex problem of ship course tracking control in a limited time is transformed, Replace the restricted course tracking error with unconstrained error, and complete the limited time specified performance control of the autopilot course system on the premise of a small cost. In most current researches, the system ship course design method, the ship course tracking speed is relatively slow, As a result, the energy consumption of the controller and the serious wear and tear of the steering gear are caused. Moreover, it is difficult to complete the specified control tasks for ships whose rotational angular velocity state is not measurable. Therefore, considering the limited time specified performance control of the autopilot system, the actual performance requirements are less , the use cost is high and it is not easy to realize engineering

Images