一种基于PD与模糊复合控制的船舶航向变结构控制器

A Variable Structure Controller for Keeping Ship Course Based on Combination of PD and Fuzzy Controller

对一种PD控制器和模糊控制器有机结合的船舶航向复合控制方法进行了研究。该方法利用PD控制器的快速性和模糊控制器的鲁棒性进行船舶航向控制,以解决PID控制器在高频干扰下难以保持航向以及普通模糊控制器不能同时兼顾大角度转向控制和小角度航向保持性能要求这两个问题。文中论述了系统结构和控制方法,仿真试验证明了该方法的合理性和有效性。

This paper researches into a multiplex control scheme combining PD controller with fuzzy controller for keeping ship Course. This approach takes advantage of the fast system response with PD controller and system robust with fuzzy controller. And it can be used to resolve two problems. The first is that PID controller can not keep ship course accurately under the high frequency disturbance, and the second is that fuzzy controller is difficult to guarantee a satisfactory performance between a ship' s turns with substantial angle and keeping course with small turning angle. The system structure and control strategy are discussed in this paper. At last, some simulation results show the system's performance is good and effiective.