摘要
为了削弱抖振,结合模糊控制和滑模变结构控制的特点,并按照航向保持和航向改变的控制要求,设计了一种组合式航向控制器.当航向偏差较大时采用基于指数趋近律的滑模控制以缩短操舵时间,反之则采用模糊滑模控制柔化控制信号.仿真结果表明,所设计的模糊滑模控制器无论在响应时间还是在超调量上都优于常规滑模控制器,并对系统的参数摄动和外扰具有强鲁棒性,能满足船舶航向实时控制要求.
A new combined controller was designed for ship′s course steering system with uncertain and time-varying nonlinear characteristic.According to course keeping and course changing requirement,the new controller,combined with the fuzzy control and sliding mode variable structure control features,could adopt different control method.The exponent approaching law sliding control was used to reduce steering time when the course error was big whereas the fuzzy sliding mode control was used to decrease the chattering.Simulation results show that the designed controller,which can overcome parameter perturbation and exterior disturbance,has better performance than conventional sliding mode controller in response time and overshoot.Furthermore,it can meet the need of real-time control of ship′s course steering.
出处
《江苏科技大学学报（自然科学版）》
CAS
北大核心
2010年第4期372-376,共5页
Journal of Jiangsu University of Science and Technology:Natural Science Edition
关键词
船舶航向控制
模糊控制
滑模控制
仿真
ship′s course steering
fuzzy control
sliding mode control
simulation
