摘要
船舶航向操纵模糊控制是船舶航行自动化的一项新的控制技术。船舶在海上航行，由于受到风浪水流和气象等环境影响，受到的干扰相当复杂。船舶运动的数学模型在不同海域海情和吃水不同时，模型参数变化是时变的、非线性的。常规的ＰＩＤ自动舵不能很好保持航向。模糊控制是基于熟练舵工的操舵经验，总结成语言表达的控制规则，根据模糊集合理论，利用航向偏差，航向变化率为输入量，应用模糊控制理论，确定舵角控制量，实现航向保持。它不依赖于精确数学模型。本文阐述了模糊控制器的设计方法。着重介绍根据输出航向的时域响应曲线控制过程，提出了控制参数自整定的一种新颖的算法。整个系统在ＰＣ上进行了数字仿真，仿真结果表明：这种模糊控制器使系统具有良好的动态、稳态性能。综合干扰下，也能较好的保持航向，在航向变化的工况中，也具有良好的鲁棒性。
The fuzzy control in ship-steering is an new control technology of ship automation. The ship is usually affected by wind, wave, flow and atmospheric phenomena while saling in the sea. The disturbance it met with were muchmore complicated. And the parameters of the shipmodel were time vary, nonlinear. Conventional PID autosteer can not keep course very well. The fuzzy controller is different because it wasn't reliable on precise mathamitic model.This paper discusses the application of fuzzy control in the manipulation of the ship, analyzes the relationship between the parameters of the fuzzy controller and the output feature of the control system. An adjustment algorithm is inferred from the dynamic performance of the system. Simulation studies show that the dynamic performance and stability under the disturbance of the adujstment controller are far better than that of the conventional fuzzy controllers.
出处
《计算机仿真》
CSCD
1996年第3期15-21,7,共8页
Computer Simulation
