摘要
船舶航向操舵控制是个典型的非线性系统,而工程上经常使用的常规PID(Proportional Integral Differential)控制器则为线性控制,至于模糊控制虽为非线性控制,但稳态精度不高。将常规PID控制与模糊控制相结合,基于Norrbin非线性系统模型和模糊自整定PID控制器的设计步骤,提出一种新的船舶航向控制算法,即船舶航向模糊自整定操舵控制器,并针对5 446标准箱的集装箱船舶,用Matlab进行了仿真计算。仿真结果表明,该控制算法可以使船舶航向控制从动态和稳态上都具有较好的精度,跟踪响应迅速,超调量小。
Ordinary PID（Propovtional Integral Differential） linear controllers commonly used in engineering do not fit with ship course steering control which is nonlinear.In contrast,fuzzy controls fit for nonlinear systems but provide lower accuracy.By combining the ordinary PID control with the fuzzy control,based on Norrbin nonlinear system model and the design procedures of fuzzy self-tuning PID controller,a new algorithm of ship course control,or a fuzzy self-tuning steering controller of ship course is put forward.A 5 446 TEU container carrier is taken as the Simulation case. Matalab Simulation shows that the algorithm has higher precision in both dynamic and steady states with faster response and less overshooting.
出处
《中国航海》
CSCD
北大核心
2010年第1期11-15,41,共6页
Navigation of China
基金
国家自然科学基金项目(60774046)
