考虑伺服机构特性的船舶自动操舵仪模糊控制研究OA
Research on fuzzy control of ship automatic steering gear considering servo mechanism characteristics
船舶操纵中伺服机构易受控制信号波动影响产生非线性特性,使控制过程出现非线性误差.因此,在考虑伺服机构特性的条件下,研究船舶自动操舵仪模糊控制方法.考虑船舶伺服机构的非线性特性,构建船舶状态空间模型;根据PID 控制方程和模糊控制算法,设计模糊控制器;通过非线性误差增益和前馈补偿,实现船舶自动操舵仪模糊控制.实验结果表明,所设计的控制方法得到的航行轨迹误差波动趋近于 0,控制时间仅为 0.2 s,受到干扰后恢复到预设轨迹所用时间最短,控制效果较好.
Servo mechanisms in ship maneuvering are susceptible to nonlinear characteristics caused by fluctuations in control signals,resulting in nonlinear errors in the control process.Therefore,this article studies the fuzzy control method of ship automatic steering system under the condition of considering the characteristics of servo mechanism.A ship state space model is constructed with considering the nonlinear characteristics of ship servo mechanisms;a fuzzy controller is designed based on the PID control equation and fuzzy control algorithm;fuzzy control of ship autopilot is realized through nonlinear error gain and feedforward compensation.The experimental results show that the designed control method achieves a navigation trajectory error fluctuation close to 0,with a control time of only 0.2 seconds.After being disturbed,it takes the shortest time to recover to the preset trajectory,and the control effect is good.
李德珊;魏旻
厦门海洋职业技术学院 航海学院,福建 厦门 361012集美大学 轮机工程学院,福建 厦门 361021
交通工程
伺服机构特性船舶自动操舵仪模糊控制器船舶状态空间模型
servo mechanism characteristicsautomatic ship steering systemfuzzy controllership state space model
《佛山大学学报（自然科学版）》 2026 (4)
53-59,7
福建省中青年教师教育科研类项目(JAT241290)
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