摘要
利用控制理论的思想，将避让船和被避让船看成是一个动态系统，首次提出船舶避碰动态系统的概念，并在考虑避让船操纵性能的基础上，建立了船舶避碰动态系统的数学模型。从控制论的角度，指出自动避碰决策系统的研究是针对船舶避碰动态系统控制器的综合设计问题。智能控制、专家控制和模糊控制是自动避碰决策系统研究的方向，本文提出的数学模型是利用计算机仿真研究自动避碰决策系统中上述控制器的基础。
In this paper,thevessel which takes an action to avodcollision and thevessel whichkeeps her course and speed are considered as a dynamic system and a concept of ship collisionavoidance dynamic system is first presented by use of contro, theory.Based on the manoeuvra-bility of ship which takes an action to avoid collision,a mathematical model for ship coilisionavoidance dynamic system is established.With the view point of controI theory,it is shownthat a research for automatic collision avoidance is the one of designing the controller for shipcollision avoidance dynamic system. It is recornmended that the intelligent control, expert con-trol and fuzzy control are the research directions for the automatic collision avoidance in the fu-ture,The mathematical model proposed in this paper can be used as a tool that may aid in ver-ifing above controllers in the automatic collision avoidance by use of computer simulation.
出处
《大连海事大学学报》
CAS
CSCD
1995年第1期30-36,共7页
Journal of Dalian Maritime University
关键词
船舶避碰
动态系统
数学模型
ship collision avoidance
ship collision avoidance dynanic system
control theory
controller
