船舶减横摇系统FC-PID并联控制研究

Research on the Fuzzy-PID Merger Control for Ship Antirolling System

基于船舶横摇运动非线性模型,设计了一种船舶减横摇FC-PID并联控制器。该控制器由Fuzzy Control和PID并联组成,其结构简单,易于工程实现。通过合理的设计模糊隶属度函数和PID输出限幅环节,实现自动无级切换控制,使船舶减横摇系统的鲁棒性能和控制精度均得到有效改善。仿真结果表明,在高海情下,基于FC-PID并联控制的船舶减横摇系统具有良好的减摇效果,并且鳍角饱和率和鳍伺服系统的功耗也得到显著降低。

A FC-PID merger controller for ship antirolling system is designed based on the ship roll nonlinear motion. This controller consists of a fuzzy controller and a PID controller, its structure is simple and easy to realize in project. By designing the fuzzy membership degree function and the limit-magnitude tache of PID outputs reasonably, the system may realize no class cut over control. The robust performance and control precision of ship antirolling system could be improved effectively. The simulation results show that the ship antirolling system based on FC-PID controller has good antirolling effect, the saturation rate of fin angle and the energy consumption of fin servo system are cut down remarkably.