中文摘要：

针对船舶航向运动控制中船舶模型辨识困难的问题,将最小二乘支持向量机（LSSVM）应用到船舶航向运动模型的辨识建模中,提出了一种基于LSSVM和PID的船舶航向复合逆系统控制方案。利用最小二乘支持向量机良好的非线性映射能力和并行信息处理能力,建立了船舶航向运动系统的逆模型,并把该逆模型作为前馈控制器,形成了船舶航向直接逆控制;同时,为了提高船舶航向控制系统的精度和抗干扰能力,增加了PID控制回路。研究结果表明,LSSVM具有良好的辨识精度和非线性函数拟合能力,该复合控制系统具有比传统船舶航向PID控制系统更优的动态跟踪性能和更好的抗干扰能力。

英文摘要：

In order to solve the problems of the ship model identification in ship course control,the least squares vector machine（LSSVM） was applied to identification for ship heading model,and an inverse control system for ship course based on combined LSSVM-PID was investigated.Making full use of nonlinear mapping and parallel processing of the least squares vector machine,an inverse model of the ship course system was established,and this model was used as a feed-forward controller to design direct inverse control.Moreover,to improving the accuracy and anti-jamming ability of the control system,a PID control loop was added.The results indicate that LSSVM enjoys a sound nonlinearity and identification accuracy,and the compound control system has better dynamic tracking performance and anti-interference ability than the PID control system.