论文部分内容阅读
针对船舶控制的特点及其对自动驾驶仪的特殊要求,为解决航迹保持问题,提出了一种基于模糊增益的自校正船舶航迹模糊自动驾驶仪,该自动驾驶仪由四个马丹尼型模糊控制器组成,包括一个基本模糊自动驾驶仪和三个可调整量化因子的装置,该调整装置也是一种可以改变基本模糊自动驾驶仪输入输出量化因子的模糊控制器,其功能是为每一个变量提供一个实时调节的比例因子。文中完整地描述了该航迹控制系统,考虑到海流扰动对航迹保持效果的影响,引入模糊增益自校正方法以改善模糊控制技术。分别对自校正模糊自动驾驶仪和基本模糊自动驾驶仪进行对比模拟仿真,仿真结果显示自校正模糊自动驾驶仪相对于基本模糊自动驾驶仪对海流扰动的适应性更强且具有更好的控制效果。
Aiming at the characteristics of ship control and its special requirements for autopilot, a self-tuning fuzzy autopilot for ship track based on fuzzy gain is proposed to solve the problem of track keeping. The autopilot is composed of four Ma Dani Type fuzzy controller consists of a basic fuzzy autopilot and three adjustable quantification factor device, the adjustment device is also a fuzzy controller can change the basic fuzzy autopilot input and output quantization factor, its function is to A variable provides a real-time scaling factor. In this paper, a complete description of the track control system, taking into account the impact of the current disturbance on the track to maintain the effect of the introduction of fuzzy gain self-correction method to improve the fuzzy control technology. The simulation results of self-tuning fuzzy autopilots and basic fuzzy autopilots show that the self-tuning fuzzy autopilots have better adaptability to current disturbances than the basic fuzzy autopilots and have better control effects .