基于模糊PID的无人帆船航向控制方法

Heading control method of unmanned sailing boats based on fuzzy PID

[目的]无人帆船在复杂海况下会出现航向状态不稳定的现象,为提高帆船在多变和未知环境下的抗干扰能力与航行的稳定性,实现对帆船航向的准确控制,提出一种结合传统PID技术的模糊自适应控制方法。[方法]建立响应型三自由度的Nomoto运动数学模型,借助Matlab的Simulink建模工具搭建模糊规则和仿真控制器,对PID控制参数进行实时在线优化调整。分别在不同航速和加入随机扰动下,与传统PID控制进行对比研究,分析不同的控制方法对航向的影响情况,并通过试验进行对比验证。[结果]结果表明,应用模糊PID方法控制小型无人帆船的航向,具有较好的自适应能力和较强的鲁棒性。[结论]研究成果可为无人帆船的航向控制设计提供参考。

[Objectives]In order to improve the anti-jamming ability and navigation stability of the unmanned sailing boats in the changeable and unknown environment and to realize accurate control of the heading of sailing boats,a fuzzy adaptive control method combined with the traditional PID technology is proposed.[Methods]The Nomoto motion mathematical model with three degrees of freedom was established,a nd the fuzzy rules and simulation controller were built with the Simulink modeling tool of Matlab,w hich could optimize and adjust the PID control parameters in real time and online.In the case of different speeds and random perturbations,a comparison with the traditional PID control was made to analyze the influence of different control methods on the heading and validate it by experiments.[R esults]The results show that the fuzzy PID method has good adaptive ability and robustness to control the heading of small unmanned sailing boats.[Conclusions]The study of this paper can provides references for heading control of unmanned sailing boats.