Intelligent Control Adopted CMAC for Twin-rudder Twin-propeller Ship Course Tracking
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- 英文论文题名：Intelligent Control Adopted CMAC for Twin-rudder Twin-propeller Ship Course Tracking
- 论文作者：Hongxin Wu ; Chen Guo ; Fangfang Yang
- 英文论文作者：Hongxin Wu ; Chen Guo ; Fangfang Yang ; Dalian Maritime University ; Information Science and Technology College
- 年：2017
- 作者机构：Dalian Maritime University,Information Science and Technology College;
- 英文论文关键词：twin-rudder twin-propeller ship ; CMAC-VPID ; intelligent control
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：TP273;U664.82
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：474k
- 原文格式：D
- 会议级别：全国
摘要
Ship is a typical multi-input and multi-output nonlinear system, which has the characteristics of large inertia and large time delay. In this paper, the mathematical model of the twin-rudder twin-propeller ship with interference under oceanic navigation conditions is established by using MMG separation model, and the maneuvering test under full load is discussed. In order to overcome the disturbances, a novel approach is proposed that Cerebellar Model Articulation variable-parameter PID integrated controller(CMAC-VPID),which is a practical tool for improving nonlinear control systems, and it can effectively reduce tracking error of the control system. The intelligent control algorithm is illustrated by simulation results of Maersk Triple E large container ship as an example.
Ship is a typical multi-input and multi-output nonlinear system, which has the characteristics of large inertia and large time delay. In this paper, the mathematical model of the twin-rudder twin-propeller ship with interference under oceanic navigation conditions is established by using MMG separation model, and the maneuvering test under full load is discussed. In order to overcome the disturbances, a novel approach is proposed that Cerebellar Model Articulation variable-parameter PID integrated controller(CMAC-VPID),which is a practical tool for improving nonlinear control systems, and it can effectively reduce tracking error of the control system. The intelligent control algorithm is illustrated by simulation results of Maersk Triple E large container ship as an example.
Ship is a typical multi-input and multi-output nonlinear system, which has the characteristics of large inertia and large time delay. In this paper, the mathematical model of the twin-rudder twin-propeller ship with interference under oceanic navigation conditions is established by using MMG separation model, and the maneuvering test under full load is discussed. In order to overcome the disturbances, a novel approach is proposed that Cerebellar Model Articulation variable-parameter PID integrated controller(CMAC-VPID),which is a practical tool for improving nonlinear control systems, and it can effectively reduce tracking error of the control system. The intelligent control algorithm is illustrated by simulation results of Maersk Triple E large container ship as an example.
引文
[1]Z.W.Wang.The simulation of maneuverability and intelligent control of large twin-propeller twin-rudder.Dalian:Dalian maritime university,2014.
[2]X.L.Jia,Y.S.Yang.Mathematical model of ship movement.Dalian:Dalian maritime university press,1999.
[3]Sahbi Khanhir,Kazuhiko Hasegawa,Vishwanath Nagarajan,Maneuvering characteristics of twin-rudder systems:rudder-hull interaction effect on the maneuvering of twin-rudde ships,J Mar Sci Technol,2011,16(10):472-490.
[4]Isherwood R.M.Wind resistance of merchant ship.Trans.Of RINA,1973.
[5]F.X.Xiao.Intelligent course control for large twin-propeller twin-rudder.Dalian:Dalian maritime university,2015.
[6]Q.C.Zhong,J.Y.Xie.PID controller with variable aguments.Information and control,1999,28(4):273-277.
[7]L.Wang,C.Guo.CMAC-PID integrated controller used in marine propulsion plant.International Conference on Intelligent Control and Information Processing.2010:367-370
[8]F Liu,H Chen.Motion control of intelligent underwater robot based on CMAC-PID.Information and Automation,2008.ICIA 2008.International Conference on.IEEE,2008:1308-1311.
[2]X.L.Jia,Y.S.Yang.Mathematical model of ship movement.Dalian:Dalian maritime university press,1999.
[3]Sahbi Khanhir,Kazuhiko Hasegawa,Vishwanath Nagarajan,Maneuvering characteristics of twin-rudder systems:rudder-hull interaction effect on the maneuvering of twin-rudde ships,J Mar Sci Technol,2011,16(10):472-490.
[4]Isherwood R.M.Wind resistance of merchant ship.Trans.Of RINA,1973.
[5]F.X.Xiao.Intelligent course control for large twin-propeller twin-rudder.Dalian:Dalian maritime university,2015.
[6]Q.C.Zhong,J.Y.Xie.PID controller with variable aguments.Information and control,1999,28(4):273-277.
[7]L.Wang,C.Guo.CMAC-PID integrated controller used in marine propulsion plant.International Conference on Intelligent Control and Information Processing.2010:367-370
[8]F Liu,H Chen.Motion control of intelligent underwater robot based on CMAC-PID.Information and Automation,2008.ICIA 2008.International Conference on.IEEE,2008:1308-1311.