对量化因子和比例因子在线修正,提出一种基于分层与子模糊控制器的模糊PID自动舵.对误差输入变量的论域范围进行分层,对不同的论域范围层,采用不同的量化因子.根据系统误差及其变化率,在常规模糊控制器的基础上,添加1个子模糊控制器,对比例因子权重参数进行在线调整.以某船的二阶线性模型作为对象模型进行仿真实验,结果证明了该控制器的有效性.
Abstract
One kind of fuzzy PID autopilot for ship steering based on stratification and sub fuzzy controller was developed by tuning quantization and scale factor. Stratifies domain range of input variable error and for different layers of domain range applies different quantization factors. One subfuzzy controller is added to adjust weight parameter of scale factor on line based on conventional fuzzy controller according to systematic error and its rate of change. Simulation experiment is carried out using a second order linear model as cargo’s model. Results show the availability of the proposed controller.
关键词
自动舵 /
模糊控制 /
分层 /
子模糊控制器 /
仿真
Key words
autopilot for ship steering /
fuzzy control /
stratification /
sub fuzzy controller /
simulation
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基金
国家自然科学基金资助项目(51179019；61074053);辽宁省自然科学基金资助项目(20102012).
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