减摇鳍变参数PID控制器的设计

Design of A Variable Parameter PID Controller for Fin Stabiliser

传统的减摇鳍PID控制器不能在各种海情和各种航速、航向下保持最优的减摇性能。本文提出了一种变参数PID控制器，它选用了一组性能指标，利用改变控制器参数来达到在各种航向、航速和海情下的减摇鳍的最优减摇效果。文中还提出了利用8097BH单片机实现变参数控制的方案。

By using 8096BH single-chip-microcomputer, a variable-parameter PID controller design is proposed. With this design, it is possible to obtain optimal roll-reducing effectiveness to meet different seastates, at variable ship speed and at any given heading.