Ship Heading Control Based On Cloud Model Adaptive Algorithm

Automatic rudder is the abbreviation of the control of the ship course,which is an indispensable part during the voyage of ship,during the voyage,have a automatic rudder which is high performance can reduce the working intense of operators,reduce the sailing costs,improve the economy and the reliability of navigation.At present,most of the ship still use fixed mathematical model,but it can not reach the performance quality in the complex situation.This paper combined the cloud model,PID and adaptive control in the ship course control system which based on traditional PID control,and simulated in the regulator control system and complex system which has disturb.From the simulation result,we can see that the algorithm we used has faster response,small overshoot,eliminated the steady error and has strong anti disturbance ability.This algorithm could solve the nonlinear problems effective and reach the performance quality.This paper first simply introduces the research background,basic principle of ship course control system,development status and research results over at home and abroad,and derives the ship course mathematical model,includes regulator Nomoto model and nonlinear model.Second research the cloud model algorithm based on fuzzy control.which includes one dimensional map and two dimensional map,after that introduce the forward cloud generator and backward generator.At last use the cloud model adaptive control combined PID control simulated in the ship course control system which based on fuzzy adaptive control,adjust the three parameters of PID on time.Use the deviation of course as input and use the rudder angle as the output,simulation and analysis the simulation results.Cloud model is a new kind of intelligent algorithm which combined fuzzy control and probability theory,but it applicated of less in the ship course control at present.The paper simulated ship course control in MATLAB with cloud model,adaptive control and PID control.Compared with PID fuzzy adaptive control which people used before,we can conclude that cloud model control has fast response,small overshoot and eliminated the steady status error.The result and the analysis provide the basis of work about this field for the future.