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| 題 名 | 模糊自航器之設計及在操船模擬之應用=The Design of Fuzzy Autopilot with Application to Ship Handling Simulation |
|---|---|
| 作 者 | 何曙光; 李信德; 曾慶耀; | 書刊名 | 中國造船暨輪機工程學刊 |
| 卷 期 | 16:1 1997.02[民86.02] |
| 頁 次 | 頁33-48 |
| 分類號 | 444.6 |
| 關鍵詞 | 模糊控制; 自航器; 比例; 積分; 微分控制; 操船模擬機; Fuzzy control; Autopilot; PID control; Ship handling simulator; |
| 語 文 | 中文(Chinese) |
| 中文摘要 | 本文主要討論模糊邏輯控制器(Fuzzy Logic Controller) 在船舶自航器(Autopilot)之應用。由於船舶運動具明顯非線性特性,無法以理論數學模式充分描述之,因此仰賴一明確數學模式之傳統式控制器設計方式在自航器之應用受到相當限制。然而領港人員卻往往憑藉其累積之領航經驗即可充分的操縱船舶行為。而模糊集合理論之邏輯法則,正可表達人為領航經驗模式,因此可預期模糊自航器若依使用環境設計得當,將具有與人為領航模式接近之成效。本文即在於發展出兩組模糊控制器,分別用於航向保持(Course Keeping)及航向變換(Course Changing)自航器,並說明不同複雜程度之演算法測(Algorithm)對操船結果之影響。另將與傳統比例-積分-微分(PID)自航器操船結果比較,以評估模糊自航器應用之可行性。首先經由個人電腦模擬以評估模糊以評估模糊邏輯自航器之性能。最後再將前述自航器透過個人電腦,及界面卡直接對海洋大學操船模擬機進行航向保持控制,並與人為操舵結果,比例-微分(PD)自航器操舵結果比較,以評估模糊自航器應用之可行性。 |
| 英文摘要 | This work is concerned with the design and application of fuzzy autopilot. As the nonlinear behavior involved in ship maneuvering is very complicated, characterization of ship maneuvering behavior by a pure mathematical model is still an open problem. Hence, traditional mathematical model-based controller is of limited usage in ship autopilot application. However, human pilots, who hardly know anything about the mathematical model of a ship, are able to control a ship effectively based on their experience. Fuzzy logic rules are capable of describing the human piloting process; hence, a properly dsigned fuzzy autopilot will have comparable performance to a skilled human pilot. Both course-keeping and course-changing fuzzy logic autopilots are discussed in this work. Fuzzy logic rules of various complexity are employed to evalute the performance of the associated controllers. Personal computer-based simulation is first conducted to examine the performance of the proposed fuzzy autopilot. Then, a personal computer is directly connected to the ship handling simulator via interface card, and the simulator is controlled by the personal computer based autopilot in conduting real time course-keeping maneuvers. Similar maneuvers are also carried out by human pilot and comparisons are made to evaluate the practical capability of fuzzy autopilot proposed. |
本系統中英文摘要資訊取自各篇刊載內容。