全墊升氣墊船航跡向控制專家系統(tǒng)研究.pdf

1、哈爾濱工程大學(xué)碩士學(xué)位論文全墊升氣墊船航跡向控制專家系統(tǒng)研究姓名：梁媛申請學(xué)位級別：碩士專業(yè)：控制理論與控制工程指導(dǎo)教師：付明玉201103全墊升氣墊船航跡向控制專家系統(tǒng)研究ABSTRACTTheamphibiousaircushionvehicle(ACV)isakindofhi。ghperformanceship，whichisliftedfromgroundorwatersurfacebyaircushionandpropelle

2、dbyaerialpropellersACVhasamphibiousnessThereislittleresearchresultsaboutACVcoursecontrolmethodsathomeandabroad，inthispaperthisexpertsystemisfirstintroducedtothecoursecontrolofACVAcertaintypeACVistheinvestigatedsubjectint

3、hispaper，therulebasedexpertsystemisdesigned，theresearcheshavebeendevelopedasfollowings：Firstly，fourdegreesoffreedommodelaresetupnemodelsofblocksarebuiltThemotionfunctionisformedbasedonthemomentumandtorchtheoremsToconvert

4、tothemovingcoordinatesystemwhichisfitfortheexpressionofhydrodynamic，ACVfourdegreesoffreedommotionsimulationmodelhascompletedSecondlytheexpertsystemofACVcoursecontrolbasedonVisualCisdesignedItiscomposedofknowledgebase，inf

5、erenceengine，dynamicdatabaseandhumanmachineinterfaceandothermodulesAccordingtothedrivingexperienceofoperatorsandcourse—keepingexperimentaldatatoestablishrule—basedknowledgebase，commonreasoningmodeandconflictresolutiontac

6、ticoftheexpertsystemareintroduced，therelationshipbetweeninferenceengineandknowledgebaseisstudied，andreasoningmechanismlisdiscussedindetail，thefriendlyhumanmachineinterfaceisdesignedanddeveloped，theusersCansetthetargetpar

7、ametersandtheputofotherparametersthroughhuman—machineinterface，thefmalcontrolresultsCanbedisplayedinrealtime；thedatabasemanagementmoduleisdesignedtostoreandmanagedataandimplementthecommunicationbetweeneachmoduleThedesign

8、oftheunderlyingcontrollerandtheimplementationofserialcommunicationThetraditionalPIDcontrolmethodisdifficulttoquicklyachievethedesiredsettingangle，thereforetheadaptivebacksteppingcontrollerwithwindfeedforwardisdesignedast

9、heunderlyingcontrolleroftheexpertsystemofACVcoursecontr01Finally，toverifythecorrectnessofexpertsystemofACVCOurSecontrol，thesimulationenvironmentwhichisconsistentwithrealenvironmentinACVnavigationcontrolprocessisbuilt，use

10、oftheexpertsystemoftheACVcoursecontrolthecoursecontroltestsintheinterferenceofwind，theabovetestsverifytheexpertsystem’SutilityandreliabilityKeywords：AirCushionVehicle；CourseControl；ExpertSystem；backstepping；KnowledgeBase