| 变论域自适应模糊PID混合控制自动舵设计 |
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| 引用本文： | 王立军,王思思,毕修颖. 变论域自适应模糊PID混合控制自动舵设计[J]. 交通与计算机, 2010, 28(6): 109-112,116. DOI: 10.3963/j.ISSN1674-4861.2010.06.030 |
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| 作者姓名： | 王立军 王思思 毕修颖 |
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| 作者单位： | 广东海洋大学航海学院,广东湛江524025 |
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| 摘 要： | 为改善航向自动舵的动态特性和自适应能力,提出将模糊逻辑控制器（FLC）与变论域自适应模糊PID控制算法（VFPID）结合起来构成一种混合控制器,进而设计出一种船舶航向FLC-VF-PID混合控制自动舵系统。以实习船＂育龙＂轮的非线性响应模型为控制对象,在考虑舵机非线性和海浪干扰情况下进行了仿真试验。试验结果表明该自动舵系统响应速度大幅度提高,同时具有无静差和超调小的动静态性,并表现出较强的鲁班性和鲁棒稳定性。
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| 关 键 词： | 变论域 自适应模糊PID 混合控制 自动舵 |
A Design of Autopilot Based on FLC-VFPID Control with Variable Universe |
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| WANG Lijun,WANG Sisi,BI Xiuying. A Design of Autopilot Based on FLC-VFPID Control with Variable Universe[J]. Computer and Communications, 2010, 28(6): 109-112,116. DOI: 10.3963/j.ISSN1674-4861.2010.06.030 |
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| Authors: | WANG Lijun WANG Sisi BI Xiuying |
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| Affiliation: | (Navigation College,Guangdong Ocean University,Zhanjiang 524025,Guangdong,China) |
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| Abstract: | In order to improve the dynamics and adaptability of the course autopilot,a hybrid controller was brought up based on fuzzy logic control and adaptive fuzzy PID with variable universe.Simulation tests were carried out on a nonlinear response model of training ship ＂Yulong＂ by considering wave disturbances and the nonlinearity of steering gear.Simulation results indicate that the FLC-VFPID autopilot system has swifter response,no steady-state error,less overshoot,stronger robustness and robust stability. |
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| Keywords: | variable universe adaptive fuzzy PID hybrid control autopilot |
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