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针对船舶横向运动控制特点,为达到航向舵控制航向同时达到减横摇的目的,提出了一种基于闭环增益成形和模糊优化算法的鲁棒PID控制器设计方法。根据具有工程实际意义的横摇和艏摇带宽直接构造出横摇、艏摇鲁棒PID控制器,并基于横摇与艏摇频谱,组合成横向控制器。由于用舵来减摇不可避免地增加了舵机的工作负担造成较大的舵机损耗,为此提出对横摇和艏摇控制器输出加入权重分配,采用模糊算法优化横向控制器权系数的方法,达到系统性能综合最优。仿真结果表明所设计的控制器具有较强的鲁棒性,合理的权系数选择,不但可以达到降低舵机损耗的目的,而且提高了航向控制精度。该控制器设计简单,易于船舶横向运动控制的实际工程应用,具有一定的研究价值。
In view of the characteristics of ship lateral motion control, a robust PID controller design method based on closed-loop gain shaping and fuzzy optimization algorithm is proposed to achieve the goal of reducing the roll while controlling the course of the rudder. According to the practical significance of rolling and shaking bandwidth directly to build a roll, roll robust PID controller, and based on roll and roll spectrum, combined into a horizontal controller. Because swaying with the rudder inevitably increases the work load of the steering gear, which leads to large loss of the steering gear. Therefore, adding the weight distribution to the output of the rolling and tilting controller, and using the fuzzy algorithm to optimize the weight coefficient of the transverse controller Method, to achieve optimal system performance. The simulation results show that the designed controller has strong robustness and reasonable choice of weight coefficient, not only can reduce the loss of steering gear, but also improve the heading control accuracy. The controller is simple in design and easy to be used in the practical engineering of ship lateral motion control. It has certain research value.