Research On Expert Control And Its Application To The Engineering Ship's Motion Control

Both classical control theory and modern control theory base on the strict and exact mathematics model. But for many systems, it is either hard or impossible to construct a model. This dependence of traditional control theory has greatly limited its application.The emergence of the intelligent control theory is the right remedy for what the traditional control theory lacks. Instead of building accurate mathematics model, it controls a system utilizing the ratiocinating methods of humankind. That is, by organizing mankind's valuable experience into systematical knowledge base and reasoning framework, intelligent control theory achieves its ideal control aim. Expert control is an important part of intelligent control. It is designed to deal with the difficulties of nonlinear, multivariable, wide lag and incertitude problems in the industry control process according to the intelligent characteristic of humankind.In order to meet the requirement of management in Changjiang River sea-route, the geotextiles-laying vessel is produced, which is a new type of engineering ship. Thanks to the particularity of its movement control method and the difficulty of building its accurate mathematics model, at present, the geotextiles-laying vessel is controlled in the manual way, depended on working experience to coordinate and control several anchor chains to move the ship and make orientation.The main research of this thesis is expert control and its application in engineering ship's motion control. The self-steering and the self-rectifying of the course and the track in the engineering ship have been carried out in the thesis. First, the thesis introduces the basic theory of expert control and the method of constructing the expert controller. In succession, according to the manual way, the simple mathematics models of engineering ship steering are built. Afterward in term of the expert control experience, the course-track expert controller is designed into the practice. There are the satisfying control effects. Based on this controller, accepting the fuzzy control theory and the genetic algorithm, which are the other two parts of the intelligent control theory, I designed the fuzzy expert controller and then optimized it. The simulation research and analysis indicate that the latter has better dynamic and steady performance than the former.Although the engineering ship steering controller that is designed in the thesis has gained the better effect, there are some deficiencies in the control precision and the restraint to external interferers.