模糊自适应PID控制在耙吸式挖泥船主动耙头的应用

Application of Fuzzy Adaptive PID Control System in Hopper Dredger Active Head

为了减轻操作人员的工作强度,提高耙吸式挖泥船主动耙头自动控制的响应速度、精度和稳定性,通过分析主动耙头的结构和工作原理,建立主动耙头的运动学模型,根据主动耙头的特点,设计了一种模糊自适应PID控制器,研究了应用PLC实现该控制器的方法。利用MATLAB对该控制器进行了仿真。结果表明,该控制器具有较好的快速性、鲁棒性和稳定性。

In order to reduce the operator＇s work intensity and improve the initiative trailing suction hopper dredger rake head automatic control response speed, accuracy and stability, through the analysis of the structure and working principle of the active rake head, the kinematics model of active rake head is established, a fuzzy adaptive PID controller based on active rake head features is designed according to the features of active head, the application of the PLC to achieve the controller is researched. Using MATLAB to make a simulation for controller, which results show that the controller has good speed, robustness and stability.