船舶操纵的自整定PID参数模糊控制器研究

The Study on Fuzzy Controller of Self-adjusted PID Parameters for Ship Maneuvering

船舶操纵是一个非线性、高阶的时间滞后过程，并受各种不确定的环境干拢。由于传统的PID调节器的操纵性能不能令人满意，故本文提出一种应用模糊推理功能实现PID参数自整定的控制。它能根据船舶动态特性的变化，自动重新整定PID参数，从而改善了操纵性能和鲁棒性。

The ship maneuvering is a nonlinear,high order time-varying process,it is subjected to kinds of random disturbance,the conventional PID adjuster is unsatisfying. In this paper, the fuzzy controller of PID parameters self-adjustment is proposed, it can automatically adjust PID parameters according to ship dynamic feature. The simulation shows that it can improve the performance and robustness of the system.