船舶动力定位系统的预测模糊控制

Predictive Fuzzy Control for Dynamic Ship Positioning System

在船舶动力定位中采用预测模糊控制策略，即通过自校正滤波与Ｋａｌｍ ａｎ 滤波得到系统低频运动位置偏差与相应速度的预测值作为模糊控制器的输入，以实现对其在水平面内的运动控制。因为基于系统模型的滤波器输出最终是经模糊化后输入至模糊控制器的，于是可大大降低对系统建模的精度要求，控制器本身具有强的鲁棒性。仿真结果说明了该策略的可行性及良好的控制性能。

A predictive fuzzy control scheme is proposed in dynamic ship positioning, during which the prediction of the low frequency motion position errors and the velocities from a self tuning filter and a Kalman filter form the inputs of a fuzzy controller to control the ship motions in the horizontal plane. Since the predictive results based on the system model should be transformed into fuzzy variables in the end, a larger system modeling error is permitted and the robustness of the controller is enhanced. The simulation results show that the scheme is effective.