| 基于自适应逆控制技术的船舶操纵仿真控制 |
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| 引用本文： | 赵隽,战兴群,张炎华.基于自适应逆控制技术的船舶操纵仿真控制[J].上海交通大学学报,2003,37(8):1168-1171. |
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| 作者姓名： | 赵隽 战兴群 张炎华 |
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| 作者单位： | 上海交通大学,信息检测技术与仪器系,上海,200030 |
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| 摘 要： | 对自适应逆控制理论中的对象动态控制问题和对象扰动控制问题分别进行了探讨，并且针对船舶模型特性，改进了自适应逆控制的框图，使其能够更好地应用于船舶操纵控制。在算法上用最小二乘法代替LMS(Least Mean Square)算法对船舶进行模型参数辨识和控制器的设计。仿真结果表明，改进后的自适应逆控制算法能适应船舶数学模型的变化，与PID控制相比，这种算法具有动态响应快，抗扰动性好等特点。
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| 关 键 词： | 自适应逆控制 建模 扰动消除器 船舶操纵 |
| 文章编号： | 1006-2467(2003)08-1168-04 |
| 修稿时间： | 2002年12月20 |
Simulation Control of Ship Manoeuvring Based on Adaptive Inverse Control Technology |
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| ZHAO Jun,ZHAN Xing-qun,ZHANG Yan-hua.Simulation Control of Ship Manoeuvring Based on Adaptive Inverse Control Technology[J].Journal of Shanghai Jiaotong University,2003,37(8):1168-1171. |
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| Authors: | ZHAO Jun ZHAN Xing-qun ZHANG Yan-hua |
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| Abstract: | The dynamic control and noise elimination of an adaptive inverse control were introduced. Based on it, the diagram of adaptive inverse control was amended to accommodate with the characteristic of ship model. The algorithm uses the least square method instead of least mean square (LMS) to identify the parameters and design the controller. The simulation results show that the improved adaptive inverse control can be adapted to the change of ship model and it has a better behavior on the response and noise elimination than PID. |
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| Keywords: | adaptive inverse control modeling noise elimination ship manoeuvring |
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