【作者】 卢雄辉； 易建强； 赵冬斌；

【Author】 LU Xiong-hui, YI Jian-qiang, ZHAO Dong-bin (Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China.

【机构】 中国科学院自动化研究所；

【摘要】 针对实际航向中,船舶受到来自海风、海浪、海流的干扰和船自身物理参数时常变化使得自动舵的控制变得困难的缺陷,提出了一种基于模糊逻辑控制的自动舵,并提出将期望航向角和航迹偏差共同计算得到的虚拟航向角作为新的期望航向角．仿真结果表明,该方法能够较好地控制船沿着期望航迹航行．与传统的PID控制相比,该方法能够更平稳地控制船舵,减少对船舵的磨损．更多还原

【Abstract】 However, due to disturbances caused by sea wind, sea wave, sea flow and some other uncertainties such as variance of ship physical parameters, how to control autopilots properly is a very difficult problem. An autopilot based on fuzzy logical control is proposed to make a ship follow the virtual course, which is calculated from real course and track deflection. Simulation results show that the ship follows command track satisfactorily. Besides, compared with traditional PID control, the rudder is operated more smoothly and therefore results in abrasion reduction.更多还原