碩士 / 國立成功大學 / 系統及船舶機電工程學系碩博士班 / 97 / The present paper develops a ship motion mathematical model including the neural network self-tuning PD control to simulate the towing angle of the tugboats. Through the automatic control on the towing angle, the tracking trajectory and course keeping of the towed ship can be handled well. The towing system is considered in regular wave with different headings and frequencies. The effects due to the wind force and wave drift are also included. From the present simulation results, we find that the neural network self-tuning PD controller developed here indeed can achieve a better and quick control on the course keeping of the towed ship and save the consuming time for searching the optimal control gain which the conventional PD controller can not do. Therefore the mathematical model including the neural network self-tuning PD control can offer a valuable reference to the towing system control at sea or confined water area.
| Identifer | oai:union.ndltd.org:TW/097NCKU5345019 |
| Date | January 2009 |
| Creators | Yi-chien Kao, 高怡倩 |
| Contributors | Ming-chung Fang, 方銘川 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 103 |
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