基于X-LMS自适应逆控制理论的船舶自动舵研究

Study on Ship Autopilot with X-LMS Adaptive Inverse Control Technology

本文分析了自适应逆控制理论和X 滤波LMS自适应逆控制算法 ,并针对船舶自动舵特点 ,用修正传递函数的方式来稳定船舶操纵模型 ,使用LMS算法对船舶进行模型参数辩识和控制器的设计。仿真结果表明 ,与PID控制相比 ,X 滤波LMS自适应逆控制算法具有动态响应快 。

In this paper adaptive inverse control theory and X LMS algorithm are introduced.According to the characteristics of ship autopilot,the modified transmission function is used to stabilize the ship maneuvering model and LMS algorithm is used to identify the model parameters as well as to design a controller.The simulating results show that X LMS algorithm has better behaviors on dynamic response and noise elimination than PID control.