摘要
针对常规PID自动舵中积分盲目、记忆了对航向控制不利的信息,导致超调增大、稳定时间延长的问题,提出了一种智能积分型PID自动舵;针对PID自动舵鲁棒性差的问题,采用了模糊控制,提出一种智能积分型模糊PID自动舵.这两种自动舵均应用智能积分控制,在船舶航向控制中的不同阶段采用不同的积分控制策略,通过特征辨识,仅保留有用信息,从而快速地消除了稳态误差.仿真试验证明这两种自动舵性能与原算法相比,性能改善,超调明显减小,稳定时间明显缩短.
As for conventional PID autopilots, there exists the blind integral item, which memorizes information harmful to course control, so as to increase overshoot and lengthen stability time. To overcome the drawback, PID autopilot equipped with intelligent integrator is proposed. Furthermore, to improve its robustness, fuzzy-PID autopilot with intelligent integrator is also presented. The novel PID approaches employ different control strategies at the corresponding stage, accordingly. Through characteristic identification method, only beneficial information is kept to quickly remove final value offset. Simulation research demonstrates the good performance of two types of autopilots. With our PID control algorithm, overshoot is decreased, and stability time is shortened.
出处
《大连海事大学学报》
CAS
CSCD
北大核心
2004年第1期14-17,21,共5页
Journal of Dalian Maritime University
基金
高等学校博士点基金资助项目(2002151005).
