具有横倾抑制功能的船舶PID微分补偿航向控制

Ship course control with heel inhibition capacity based on PID differential compensation

为改善船舶航向自动舵性能和减小船舶转向时的横倾幅度,提出一种基于模糊逻辑控制和滑模PID微分补偿的船舶航向保持控制策略。分析PID控制的积分超调问题和船舶转向时的横倾特点。对PID控制进行滑模变形,并引入微分项对PID控制的积分项进行补偿以消除积分超调。以横倾角和横倾角速度为输入设计模糊控制规则,对滑模PID微分补偿控制器参数进行调节以减小转向时横倾角。以集装箱船“MV KOTA SEGAR”MMG模型为控制对象进行MATLAB仿真。仿真结果表明:该控制器能够减小船舶转向时的横倾幅度,最大横倾抑制率可达71%;解决了PID控制的积分超调问题,具有参数易调节等特点。

In order to improve the ship course autopilot performance and reduce the heel amplitude during ship steering,a ship course keeping control strategy based on the fuzzy logic control and the sliding mode PID differential compensation is proposed.The integral overshoot problem of PID control and the heel feature when ship steering are analyzed.PID control is deformed by the sliding mode,and the differential term is introduced to compensate the integral term of PID control to eliminate the integral overshoot.A fuzzy control rule is designed with the heel angle and the angular velocity of heel as the input,and the parameters of the sliding mode PID differential compensation controller are adjusted to reduce the heel angle during ship steering.The MMG model of the container ship“MV KOTA SEGAR”is used as the control object for MATLAB simulation.The simulation results show that:the controller can reduce the heel amplitude during ship steering,and the maximum heel inhibition rate can reach 71%;the integral overshoot problem of PID control is solved,and the parameters are easy to adjust.