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对量化因子和比例因子在线修正,提出一种基于分层与子模糊控制器的模糊PID自动舵.对误差输入变量的论域范围进行分层,对不同的论域范围层,采用不同的量化因子.根据系统误差及其变化率,在常规模糊控制器的基础上,添加1个子模糊控制器,对比例因子权重参数进行在线调整.以某船的二阶线性模型作为对象模型进行仿真实验,结果证明了该控制器的有效性.
In this paper, a fuzzy PID autopilot based on hierarchical and sub-fuzzy controllers is proposed to modify the quantification factor and the scale factor on-line, the universe of domain of error input variables is stratified, and different quantification Factor.According to the system error and its rate of change, a fuzzy controller is added to the fuzzy controller based on the conventional fuzzy controller, and the weight factor of the proportional factor is adjusted on-line.The simulation experiment is carried out with the second-order linear model of a ship as the object model, The result proves the effectiveness of this controller.