CAJ | 학술논문

针对水面航行的潜艇易受到风浪高频干扰而产生频繁操舵的问题，提出了采用直接模型参考的神经网络自适应控制方法。在潜艇航向的离线辨识中引入了参考模型，通过参考模型的输出和潜艇模型的实际输出的比较来调整RBF神经网络的权值，以达到潜艇水面航向的自适应控制，并且针对风浪干扰设计了切比雪夫II型滤波器。仿真结果表明：结合切比雪夫II型滤波算法和直接模型参考神经网络自适应控制算法，能够很好地解决潜艇航向控制在海浪干扰下的无效操舵问题。
침대수면항행적잠정역수도풍랑고빈간우이산생빈번조타적문제，제출료채용직접모형삼고적신경망락자괄응공제방법。재잠정항향적리선변식중인입료삼고모형，통과삼고모형적수출화잠정모형적실제수출적비교래조정RBF신경망락적권치，이체도잠정수면항향적자괄응공제，병차침대풍랑간우설계료절비설부II형려파기。방진결과표명：결합절비설부II형려파산법화직접모형삼고신경망락자괄응공제산법，능구흔호지해결잠정항향공제재해랑간우하적무효조타문제。
According to the problem that the high frequency disturbance of wind and wave induced operating rudders , the direct model with reference to the control means of self-adapting neural network was adopted .The reference model was instructed by identifying off line of submarine's course.The weight value of RBF neural network was set by the output of reference model and the actual output of submarine model .In this way, the self-adapting control of submarine at surface course was achieved .And Chebyshev 2nd filter was designed to against wave disturb .The simulation demonstrated that the integration of Chebyshev 2nd filter algorithm and self-adapting control algorithm of direct model with reference to neural network can solve the problem of void steering of course control under wind and wave disturb .