模糊切换型船舶运动PID控制器

航向改变时船舶航迹变化过程可以分为瞬态区域和稳态区域。根据不同区域中不同的性能指标,提出了一种把常规PID和TS-PID模糊控制器以模糊切换方式相结合的模糊切换型PID控制方法。该方法集成了常用PID和模糊PID控制方式的优势并弥补了各自的不足,模糊切换方式实现了二种控制器之间的平滑切换。应用钝性定理证明了二阶Nomoto船舶模型的切换型PID控制系统的输入、输出稳定性,并用遗传算法优化控制器参数。与模糊PID控制器的对比仿真实验,表明所提出的方法可以有效提高船舶运动控制的各项性能指标。

Fuzzy Switching PID Controller for Ship Motion

Vessel tracking process during its course change can be divided into steady-state regime and transient-state regime.According to different performance criteria for different regimes,a named fuzzy switched PID(FS-PID) control algorithm,which combines conventional PID with TS-PID fuzzy controller through fuzzy switching method,is presented in the paper.It integrates the advantages both of general PID controller and fuzzy PID controller,but eliminates their disadvantages so as to realize smooth switching between the two controllers.Passivity theorem is used to prove the I/O stability of the FS-PID controller for twoorder Nomoto ship model,and the controller parameters are optimized by GA algorithm.Simulation test with the fuzzy controller indicates that the proposed method is enable to improve performance index of ship motion control effectively.