【作者】 丁琳； 刘清；

【Author】 Ding Lin Liu Qing (College of Automation,WUT,Wuhan,430063)

【机构】 武汉理工大学自动化学院；

【摘要】 船舶运动呈非线性,操作机构有明显的纯滞后、死区、继电、速率限制等非线性;船舶运动动态特性又与航行工况密切相关,受风、浪、流、过船等各种干扰,所以船舶操纵是一个极其复杂的运动。目前许多研究都采用船舶运动线性模型,当舵角大于5度时,用线性模型描述的船舶运动将很不准确。为了对船舶操纵运动进行较为精确的数学模拟,有必要采用非线性数学模型。本文基于船舶操纵运动的非线性模型,将模糊控制运用于船舶自动操舵系统,并与传统的PID控制相比较。仿真结果表明了模糊控制系统良好的控制效果。更多还原

【Abstract】 The ship dynamics is nonlinear.The devices of ship manipulation have dead zone, saturation,transport-delay traits and so on,the motion of the ship is related to working conditions, such as wind,surf,So ship manipulation is a very complicate problem.Many simulations are based on the linear model.As a result,the rudder angle should not exceed 5°,othervise the model is inaccurate.In order to get an accurate simulation,a nonlinear model is needed.The nonlinear model of ship manipulation is built with the help of s-function provided by MATLAB.Because fuzzy control is an important embranchment of intelligent cybernetics,it has many advantages.In this paper,Fuzzy control is applied to autopilot,It is compared with PID method.The emulational results suggest it has good effects.更多还原