自抗扰控制型自动舵的优化设计研究

The Optimization of ADRC in the Ship Autopilot

提高船舶航向控制的精确性、可靠性是航海技术发展的方向之一。基于人工智能技术,对普通的自抗扰控制器进行优化,引入全新的理念,综合运用神经网络和自抗扰技术能有效提高自抗扰控制器的性能。本文结合船舶航向控制过程中所受的扰动,设计了神经网络型自抗扰控制器,从仿真结果看,能够提高控制器的稳定性、自适应性和鲁棒性。

The direction of the navigation technology development is improve the accuracy and reliability of ship course control, now the artificial intelligence are widely used in the world, the RBF neural network are used in ADRC technology, realize the course automatic control of the ship. From the simulation results, this autopilot has a good stability, adaptability and robustness.