High Speed Unmanned Ship Modeling And Control Simulation

The course and carriage control of unmanned slid-ship is important to improve the observational effection of scout equipment and the precision of the weapon system.And it is important for the sail and other control. The wind, current and sea wave disturbances can produce strong influence on ship sailing. The slid-ship will produce complex six freedom movement which has randomicity and nonlinerity. So it is difficult to control the course and carriage, and it needs further study whether in theory or real project.This paper realizes and analyses the slid-ship dynamical model and the appliance of the Fuzzy control, neural network and Fuzzy Neural-network(NN) in the ship control system. Aimed at the character of hydrodynamic force, decompound it into some parts and analyse them one by one. Then take it into the six freedom movement model. And the ship's course has nonliner uncertainty and dynamic instability. In the base of the study of rudder control principle, the paper designs two course controllers used Fuzzy control and PID, and simulates the system. The resule shows that the course control used Fuzzy controller is more stability than that used conventional PID controller. And aimed at the strong coupling connection when the slid-ship used waterjet control its carriage, the paper combines the Fuzzy control technology and RBF NN into one Fuzzy RBF NN controller that has both the study and adapt capability of RBF NN and the simple and effective capability of Fuzzy controller to control nonlinear system. At last take the controller into different entironment such as having wave disturbances from different directions. Simulation experiments show that the controller has good carriage control effection.