一种模糊自整定PD航向控制系统的设计

基于传统的PID自动舵很难有效控制船舶航向,本文提出一种模糊自整定PD参数自动舵,在线实时调整PD参数控制实船模型。经过计算机仿真试验得到了较之PID自动舵和模糊控制自动舵更好的控制效果,既具有较高的控制精度,也有较快的响应时间,鲁棒性也明显提高,这验证了该自动舵设计的合理性。

A Fuzzy Self-turning PD Parameters Autopilot'' s Design

The maneuvering of a ship along a prescribed course in restrict waters is important from operational, safety and environmental viewpoints. During the ship' s maneuvering, there are some characteristics of nonlinear, slow time varying and influence of complex disturbance. It is difficult for the PD autopilot based on linear system math model to control ship maneuver system effectively. In this thesis, the authors put forward a fuzzy self-turning PD parameters autopilot. This autopilot uses a fuzzy controller to regulate the PD controller' parameters in real-time. According to the simulation result, the fuzzy self-turning PD parameters autopilot gains both of the two control systems'advantages-, it owns high precision in stable state of FID controller and also has rapid response property of the fuzzy controller. The control system's robust properties are also enhanced.