基于鲁棒模糊控制的船舶转向及航向保持

Ship Course-Changing and Course-Keeping Based on Robust Fuzzy Control

为更好的满足船舶转向和航向保持对自动舵系统的不同要求,首先基于一阶闭环增益成形算法对船舶转向过程分三段进行控制器设计,在自适应模糊推理系统(ANFIS)离线模型辨识正确的前提下得到每个控制器的模糊隶属度函数,然后对三个控制器的输出进行T-S模糊综合。以实习船"育龙"轮的非线性响应模型为控制对象,考虑不同的干扰和模型摄动情况后进行了仿真试验。仿真结果显示该控制器具有超调小、响应快的动静态特性,并在干扰和模型摄动下表现出较好的鲁棒稳定性和鲁棒性。

To satisfy different requirements of course-changing and course-keeping for autopilot system,a fuzzy ship steering control system is developed based on closed-loop gain shaping algorithm with the ship course changing process being divided into three turning stages,.Three segments of control are integrated by T-S fuzzy model,whose fuzzy membership functions are obtained for each segment after off-line identification using adaptive neuro-fuzzy inference system（ANFIS）.Simulation tests are carried out,by taking non-linear response model of the training ship ＇Yulong＇ as a controlled objects,with different disturbances and model perturbation.Simulation results indicate that the autopilot system features swift response and less overshoot,as well as stronger robust stability and robustness.