高速水翼船运动姿态控制研究

Research on Montion Attitude Control of High-speed Hydrofoil Ship

针对高速水翼船运动具有快速性、高度非线性、控制复杂及传统PID自适应能力较差等特点,以高速水翼船升沉与纵倾的姿态控制为目标,提出了一种复合式前馈模糊自适应PID控制器,通过将经典PID、模糊控制及前馈控制算法结合起来,实现了对高速水翼船的快速、精确控制。以改进型高速水翼船TR3800为例,利用Matlab/Simulink对其运动控制器进行了设计和仿真研究,结果表明:复合式前馈模糊PID控制器缩短了系统调整时间、减小了系统超调量、提高了系统的实时性,与经典PID、模糊PID相比具有更强的鲁棒性能和控制效果,实现了对船体升沉与纵倾的精密控制,使其运动更为平稳,对工程实践具有重要的指导意义。

Considering the rapidity, high nonlinearity, complicated control and less adaptive capacity of the traditional PID in high-speed hydrofoil ship motion, and with the target of heave and pitch attitude control of high-speed hydrofoil ship, a hybrid feedforward fuzzy adaptive PID controller is proposed. The combination of traditional PID, fuzzy control and feedforward control algorithm realizes the control of high-speed hydrofoil fleetly and accurately. Based on the improved boat ＂TR3800＂ the design and simulation research on montion controller are carried out by use of Matlab/Simulink. The result shows that the hybrid feedforward fuzzy adaptive PID controller can shorten the adjusting time of the system, reduce the overshoot of the system and improve the real-time performance of the system. It has stronger robustness and control effect compared to classical PID and fuzzy PID control. The precision control of ship heave and pitch is fulfilled with smoother motion, which has important guiding significance for engineering practice.