摘要
针对船舶控制的特点及其对自动驾驶仪的特殊要求,为解决航迹保持问题,提出了一种基于模糊增益的自校正船舶航迹模糊自动驾驶仪,该自动驾驶仪由四个马丹尼型模糊控制器组成,包括一个基本模糊自动驾驶仪和三个可调整量化因子的装置,该调整装置也是一种可以改变基本模糊自动驾驶仪输入输出量化因子的模糊控制器,其功能是为每一个变量提供一个实时调节的比例因子。文中完整地描述了该航迹控制系统,考虑到海流扰动对航迹保持效果的影响,引入模糊增益自校正方法以改善模糊控制技术。分别对自校正模糊自动驾驶仪和基本模糊自动驾驶仪进行对比模拟仿真,仿真结果显示自校正模糊自动驾驶仪相对于基本模糊自动驾驶仪对海流扰动的适应性更强且具有更好的控制效果。
According to the control characteristics of ships and the special requirements of autopilots,for the track-keeping problem,develop a self-turning fuzzy gain autopilot for track-keeping base on fuzzy gain.This autopilot is composed of four Mamdani type fuzzy controllers,include a base fuzzy autopilot and three adjustable quantization factors mechanism.The adjustment mechanism represents a fuzzy controller that changes quantization factors of the base fuzzy autopilot to provide an on-line modification of the scaling factors for each variable.The control system for the track-keeping is completely described,consider the influence of sea current disturbances on track-keeping performance,introduce the fuzzy gain self-turning method to improve fuzzy control technology.Simulation results obtained by the base fuzzy autopilot and the fuzzy self-turning autopilot are presented.Then,those results are compared to show that the fuzzy self-turning autopilot is adaptable for sea current disturbances and has better control effect.
出处
《控制工程》
CSCD
北大核心
2014年第S1期73-75,84,共4页
Control Engineering of China
基金
国家自然科学基金资助项目(50909027)
