船舶操纵模糊控制器的设计及仿真

The Study of Fuzzy Control and Simulation for Ship Maneuvering

本文探讨了模糊控制在船舶操纵中的应用，提出了自动调整比例因子的模糊控制器，为提高控制精度引入了模糊积分环节和干扰估计与补偿。仿真结果表明，该模糊控制器能够适应船舶模型参数的非线性、时变特性和不确定的环境干扰，有效地改善了操纵性能，减少了操舵次数，具有较强的鲁棒性。

Studies the application of fuzzy control in ship maneuvering and presents a fuzzy controller with auto-tuned scaling factors. The controller adapts to indefinite environments and nonlinear,timevarying diameters of ship model. In order to obtain the faster speed and higher precision of the response,Fuzzy PD and Fuzzy PI comtrol algorithms are proposed,And also,a new method to estimate disturbance and to compensate for it is introduced. The simulation about ship maneuvering in three kinds of disturbances(circle sea wave disturbance,constunt disturbance of wind and current,and synthetic distUrbance such as wind,wave,current and so on)shows that fuzzy controller can improve the performance and robustness of the system and reduce the motion of rudder.