在线自整定PID船舶自动舵的设计与实现

介绍了常规PID自动舵参数整定的困难,简述了继电型自整定PID控制的基本原理及PLC实现的基本方法,提出了基于PLC的在线自整定PID船舶自动舵的设计和实现方案,该自整定PID自动舵能够自动适应船况和海况的变化,实现PID参数无扰动切换、变增益调节、抗积分饱和、微分先行等功能,克服了常规PID舵机振荡等缺陷。实船应用表明,该自整定PID船舶自动舵的有效性。

Design and Implementation of Self-tuning PID Marine Automatic Steering

The difficulty in tuning the regular PID autopilot parameters as well as the poor control effect thereof are introduced in this paper.The basic principle in relay feedback self-tuning and an implement method to the self-tuning PID with PLC are also explained.The design and the realization plan of the PLC-based on-line self-tuning PID marine automatic steering are further put forward.Being capable of automatically adapting well to the changes of the conditions of the ship and sea,this self-tuning PID marine automatic steering can not only realize non-disturbance switching,variable gain adjustment,anti-integral saturation and differential in advance and so on,but also overcome steering oscillation.The validity of the self-tuning PID marine automatic steering is verified in practice.