自组织模糊控制自动操舵系统

A Self-Organizing Fuzzy Control Steering System

本文利用模糊控制理论设计一种自动舵用于船舶的航向保持控制。这种设计是将人工控制的操纵行为翻译成一个模糊数学模型。由于船舶是一个非线、高阶的时间滞后系统,而且船舶装载和海况经常变化,使一些情况下普通模糊控制的性能是不能令人满意的,所以应用了自组织模糊控制器。控制器的规则能够根据性能指标自动地调整,从而改善控制性能使航向精度达到预定水平。控制器进行了计算机仿真研究。

This paper gives a design scheme for ships autopilot which uses a selforganizing fuzzy control strategy. For this design the steering behaviour of a human controller is transformed into a fuzzy' mathematical model. Because the dynamics of the ship motion is non-liner, high order and contains timelag, and the loading of ship as well as sea condition are varying, the performance of non-adaptive fuzzy control can not be relied upon under certain conditions. So a self-organizing fuzzy controller is used. The rules of the fuzzy controller are adjusted automatically in accordance with a performance criteria. Therefore the control performance of the vessel is improved and the course precision comes up to the predetermined level. Computer simulation has been carried out.