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研究生:王柏哲
研究生(外文):Wang, Po-Che
論文名稱:應用類神經網路運算法於船舶減搖與航跡控制之研究
論文名稱(外文):Using Neural Network Algorithm on the Roll Reduction Control and Track Keeping for the Ship Advancing in Waves
指導教授:方銘川方銘川引用關係
指導教授(外文):FANG, MING-CHUAN
口試委員:邱逢琛周顯光羅志宏
口試委員(外文):FENG-CHEN CHIUHSIEN-KUANG CHOUCHIH-HUNG LO
口試日期:2010-07-23
學位類別:碩士
校院名稱:國立成功大學
系所名稱:系統及船舶機電工程學系
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2010
畢業學年度:98
語文別:中文
論文頁數:135
中文關鍵詞:類神經網路船舶減搖航向控制穩定翼
外文關鍵詞:Neural networkShip roll reductionTrack keepingFin StabilizerRudder
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  • 被引用被引用:0
  • 點閱點閱:5
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本研究為利用類神經網路演算法應用於船舶航跡與減搖系統之控制,當船舶航行於航道與開放水域時,受風浪及其他外力影響,會使得航向角與航跡偏離正常航道並造成船舶橫搖運動。本文包含耐海性與操縱性之非性六度運動方程式輔以四階Runge-Kutta數值分析方法模擬船隻於波浪中航行之時程領域運動反應;考慮船隻受波浪作用時,能利用控制方式來保持正常航向與航道,並且減少船舶橫搖運動。本系統利用舵與穩定翼做為控制工具,並且利用自調式類神經PD控制器完成多輸入多輸出的系統控制,包含4種控制模式,利用舵與穩定翼配合不同控制項目加以比較,並且驗證在規則波、長峰波與短峰波海況下模擬船隻航行前進時系統效果。
The purpose of the present paper is to develop a control system based on the neural network algorithm to achieve the ship roll reduction and track keeping. Generally it will causes large roll motions and tracking errors when the ship sails sat sea due to the wind, waves and other external forces and causes. The present paper based on the mathematical model including the seakeeping and maneuvering characteristics to simulate the ship motion responses in time domain using the 4th Runge–Kutta method. In order to reduce roll motion and keep the ship to sail in the desired path, we consider the rudder and fin stabilizer as the control tools and apply the self-tuning neural network PD controller to achieve the multi-input and multi-output system control, which includes four different control modes. The different sea states with respect to the regular waves, long crested waves and short crested waves are carried out to investigate the performance of different control modes. The results shows that the control system with fin stabilizer for roll reduction and rudder for track keeping might be a better choice.
中文摘要 I
ABSTRACT II
誌謝 III
目錄 IV
表目錄 V
圖目錄 VI
符號說明 XIII
第一章 序論 1
1.1 前言 1
1.2 文獻回顧 3
1.3 研究方法與本文架構 6
第二章 運動方程式 7
2.1 座標系 7
2.2 運動方程式 8
2.2.1 Froude-Krylov力與繞射力 10
2.2.2 舵力 11
2.2.3 穩定翼力 14
2.3 非規則波 16
2.3.1 長峰波 16
2.3.2 短峰波 17
第三章 類神經網路與控制理論 19
3.1 類神經網路控制架構 19
3.1.1 倒傳遞類神經網路 20
3.2 PD控制理論 24
3.3 系統鑑別網路(NN1) 26
3.4 PD參數自調類神經網路(NN2) 27
3.5 控制模式 28
3.5.1 舵機控制模式(A模式及B模式) 30
3.5.2 舵與穩定翼混合控制模式(C模式及D模式) 36
第四章 結果與討論 39
4.1 計算船型 39
4.2 規則波中航行之航跡控制與減搖 44
4.3長峰波中航行之航跡與減搖控制 67
4.4 短峰波中航行之航跡與減搖控制 92
4.5 動態環境中航行之航跡與減搖控制 117
第五章結論與未來展望 130
參考文獻 132
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