【摘要】 为使海上作业的铺缆船舶能够更好地保持定点作业能力,其上都安装有动力定位系统。船舶运动的数学模型是非线性的,单独使用模糊控制效果不够理想,通过使用Fuzzy-PID合成控制器可实现更精确的动力定位。该控制器包含大误差切换至Fuzzy控制模块、小误差切换至Fuzzy-I控制模块及微误差切换至Fuzzy-PID控制模块3个模块。同时为了船舶能够更好、更节能地抵抗外界环境,在控制器部分还加入了首向寻优环节。仿真验证表明,与传统Fuzzy控制对比后得出,使用Fuzzy-PID控制器仿真时系统的稳定性和响应速度都较为优越,提高了动力定位的效果,符合绿色动力定位的理念。更多还原

【Abstract】 To make the cable-laying ship are better able to maintain fixed point operations,these vessels are generally equipped with dynamic positioning systems. As the mathematical model of ship motion is nonlinear,the effect of fuzzy control alone is not ideal. Using Fuzzy- PID synthesis controller can achieve more accurate ship dynamic positioning. The controller domain contain three modules: large errors using Fuzzy control module,small error using Fuzzy- I control module,micro-error using Fuzzy- PID synthesis control module. Meanwhile,in order to be able to resist environment better and save more energy,the heading optimization is also joined in the controller section. Finally,through simulation,the results show Fuzzy- PID synthesis controller perform better on stability and response time of the system than the traditional Fuzzy controller,improved dynamic positioning results,meet the conception of green dynamic positioning.更多还原