自动舵

H∞积分控制在船舶自动舵中的应用

Application of H ∞ integral control on autopilot for ships

一种基于BP神经网络的潜艇自动舵探讨

Discussion on the submarine autopilot based on BP neural network

H∞控制器应用于船舶自动舵

H_ ∞ Controllers Applied to Autopilot for Ships

PID自动舵组件自动测试系统研究

Study on the Auto-test System of the Modules for the PID Autopilot

基于粒子群优化的船舶PID自动舵的改进

Improvement of ship PID autopilot based on particle swarm optimization

基于信息融合与神经网络PID（比例-积分-微分）技术的潜艇自动舵研究

Submarine autopilot based on information fusion and neural network PID

关于PID自动舵神经网络控制的研究

Research on the Neural Network Control of PID Autopilot

PID自动舵的自整定专家系统

Research on PID Autopilot Based on Self-setting Expert System

基于PLC的模糊PID船舶自动舵

Fuzzy PID automatic steering gear based on PLC

基于非线性PID的船舶航向自动舵设计

Nonlinear PID Design for Ship Course Autopilot Control

基于ARM的中小型船舶自动舵电控系统设计

Control system design of the autopilot in the small and medium-sized ships based on ARM

BP算法是目前最常用最成熟的网络算法，它的应用可以让自动舵转入实际使用时可靠性更高。

BP algorithm is in common use and it 's one of best algorithms of network .

船舶自动舵灰色预测模型及其DSP实现技术研究

A Prediction Model of Ship Autopilot Based on the Grey Theory and Its Realization with DSP

针对PID自动舵鲁棒性差的问题，采用了模糊控制，提出一种智能积分型模糊PID自动舵。

Furthermore , to improve its robustness , fuzzy-PID autopilot with intelligent integrator is also presented .

我国船舶上广泛采用的PID自动舵，具有航向控制功能。

In our country , ships mount the PID autopilot broadly , which has course control function .

主要介绍了综合导航系统对PID自动舵实现自动驾驶的一种可行方法。

This paper introduces a well method about PID rudder for marine integrated navigation syStem to achieve automatic piloting .

应用H∞控制的S／T混合灵敏度方法于船舶自动舵设计。

He weighted mixed sensitivity optimization approach of H ∞ control theory is applied to the design of an autopilot for ships .

借鉴生物系统免疫调节机理，将一种模糊免疫PID控制器应用于改造船舶PID型航向自动舵。

Fuzzy immune PID controller is used for rebuilding PID ship autopilot based on immune adjusting mechanism of biology system .

在两种控制算法中，对舵角进行积分的船舶航向模糊PID自动舵超调较小，效果更为理想。

Furthermore , the fuzzy-PID autopilot , with integral item of rudder angle , shows smaller overshoot , and better performance .

基于STD总线模糊控制航迹自动舵实现

Fuzzy Control Track Autopilot Based on the STD Bus

基于小生境免疫算法的船舶FNN自动舵设计

Design of ship FNN autopilot based on niche immune genetic algorithm

控制器，而在航向控制方面，在传统的PID自动舵的基础上采用卡尔曼滤波器对航行过程中遭遇的风浪干扰进行抑制，从而在减摇的同时达到控制航向的目的。

For the course-keeping control , based on the traditional PID autopilot , Kalman filter is used to limit wind and wave disturbances during the sail .

通过对船舶自动舵控制系统的控制原理、控制方法及存在的问题进行研究后，设计了基于PLC技术的自动舵控制方案，讨论了其具有的优点。

Through the theoretical analysis on the principle and the method of marine steering autopilot control , based on the PLC an autopilot control system is designed .

最后，利用工控机、数据采集卡、模拟输出卡、DSP控制器等硬件搭建了船舶自动舵系统半实物仿真平台。

Finally , the paper uses computer , data acquisition cards , analog output cards , DSP controller and other hardware to constract a semi-physical simulation platform of shipping automation system .

对此，在上述模糊自动舵中增加积分控制功能，提出了两种船舶航向模糊PID自动舵控制算法，分别对航向偏差和舵角进行积分。

Then , integral control , i.e. integrating course error and rudder angle , respectively , is fused into the above controller , and two kinds of fuzzy-PID autopilot are designed .

通过与传统的PID舵对比可以发现滑模自动舵超调小，动态响应好，后期在航向误差很小时也能迅速消除稳态误差，调节时间短。

Compared with the traditional PID autopilot , sliding mode autopilot gets small overshoot , short settling time and good dynamic response , then eliminates the steady state error at late hour .

该非线性观测器的性能通过对一动力定位船舶模型的仿真得到了验证传统的PID自动舵需要精确的船舶控制模型来得到好的控制效果，但在实际当中，精确的船舶模型是很难得到的。

The simulation results show the excellent performance of the nonlinear observer . Though conformation of traditional PID Algorithm is very simple , it is extremely depend upon the accurate model of the controller .

给出用H∞鲁棒控制的混合灵敏度优化算法设计的船舶航向自动舵控制器、鲁棒自动舵系统的硬件实现和软件设计及其实船海上试验结果。

The autopilot for ship course keeping designed using mixed sensitivity problem , the hardware implement and software design of robust autopilot system as well as the result of its sea trial are presented in the paper .

并且采用C语言进行模块化设计，对于算法改进、功能添加十分便利，有利于理论向应用转化，为实现高性能的船舶自动舵样机打下基础。

In addition , the modular design makes the algorithm improvement , the functional addition convenient by C language , is beneficial to applying theory to engineering . This method is the base that prototype of high-performance ship autopilot is made .

基于神经网络和L2增益的船舶航向自动舵设计

Neural-network and L_2-gain Based Autopilot Design of Ship Course-Keeping