一种FLC-PID混合控制自动舵研究

提出将FLC与PID控制算法结合起来构成FLC—PID混合控制器，设计出一种船舶航向FLC—PID混合控制自动舵系统。以野本模型（Nomoto）作为船舶运动控制系统的受控对象，分别讨论了确定模型和在外界干扰下的不确定模型，根据大连海事大学实习船“育龙”号的资料建立了船舶运动模型，仿真试验结果表明FLC-PID混合控制自动舵比单一PID型自动舵具有超调小、响应快的动静态性，并针对船舶模型的摄动具有一定的鲁棒性。

An Autopilot Based on FLC-PID Hybrid Control

This paper proposes a new FLC-PID hybrid control autopilot, combining FLC with PID control algorithm. Ship motion model is established based on determimstic and disturbed uncertain Nomoto model for DMU＇s training ship “YULONG”; Simulation results indicate that hybrid FLC-PID autopilot has smaller overshoot, swifter static and dynamic responding speed, and better robustness against ship model＇s perturbation.