| 基于模糊PID串级控制的航迹保持方法 |
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| 引用本文： | 丁福光,闫志辉.基于模糊PID串级控制的航迹保持方法[J].船舶工程,2009,31(1). |
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| 作者姓名： | 丁福光 闫志辉 |
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| 作者单位： | 哈尔滨工程大学,自动化学院,哈尔滨,150001 |
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| 摘 要： | 提出一种用于动力定位船的直线航迹保持方法,该方法基于参数自整定模糊PID串级控制,利用模糊控制在线调整PID参数,并且把船速作为模糊判决的一个条件,使该控制方法能够适应不同的船速.仿真试验证明该控制方法航迹保持性能良好,能够适应环境和船速的变化,能精确的保持直线航迹.
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| 关 键 词： | 动力定位 航迹保持 模糊控制 PID控制 串级控制 |
Track-keeping method based on fuzzy serf-tuning PID cascade control |
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| DING Fu-guang,YAN Zhi-hui.Track-keeping method based on fuzzy serf-tuning PID cascade control[J].Ship Engineering,2009,31(1). |
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| Authors: | DING Fu-guang YAN Zhi-hui |
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| Institution: | DING Fu-guang,YAN Zhi-hui (Automation College of Harbin Engineer University,Harbin 15001,China) |
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| Abstract: | A method for dynamic position ship track-keeping is developed. This method has a cascade control based on Fuzzy control and PID Control. Fuzzy control is used to adjust the parameters of PID control on-line, and ship velocity is an input of Fuzzy control, accordingly it can adapt to various velocity. The results of emulator experiment show that this method has good capability on track-keeping, which can adapt to the change of environment and velocity, and accurately keep beeline track. |
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| Keywords: | dynamic position track-keeping fuzzy control PID control cascade control |
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