风帆助航船舶帆角控制系统分析与设计

Analysis and Design of Sail Angle Control of Sail-assisted Ship

针对风帆助航船舶装置帆角控制问题,基于模糊PID控制理论实现了对风帆助航船舶帆角的控制。针对风帆助航船舶装置双闭环控制结构特点,分别设计了P控制器对内回路位移量和外回路帆角进行控制,采用劳斯稳定判据方法给出了帆角控制系统稳定性条件。在此基础上,对于主回路分别设计了经典P控制器和模糊P控制器,基于模糊控制理论对模糊P控制器参数进行了自适应选取。仿真结果表明,所设计的模糊PID控制器能获得较快的响应速度,并且无超调。

For the sail angle control of the sail-assisted ship,control theory based on fuzzy PID achieves the control of sail angle of sail-assisted ship.According to the characteristic of double closed loop in the sail-assisted ship system,a P controller is designed to control the displacement for the vice-loop,while another P controller is used to control the sail angle for the main-loop.Stability conditions of the control system of sail angle are derived through using Routh stability criterion.On this basis,classical P controller and fuzzy P controller are designed for the main-loop respectively and the latter realizes the self-adaptive selection for the parameters based on fuzzy control theory.The simulation results show that the design of the fuzzy PID controller can achieve rapid response without overshoot.