大连海事大学学报 >
2016 , Vol. 42 >Issue 3: 20 - 24
DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2016.03.004
船舶航向积分补偿PID控制及参数自适应算法
收稿日期: 2015-11-23
修回日期: 2016-01-22
网络出版日期: 2016-01-25
基金资助
中央高校基本科研业务费专项资金资助项目（3132015019;3132016006).
Integral compensation PID and parameter adaptive algorithm of ship course control
Received date: 2015-11-23
Revised date: 2016-01-22
Online published: 2016-01-25
刘勇 , 卜仁祥 , 徐海军 , 白军 . 船舶航向积分补偿PID控制及参数自适应算法[J]. 大连海事大学学报, 2016 , 42(3) : 20 -24 . DOI: 10.16411/j.cnki.issn1006-7736.2016.03.004
The characteristics of conventional proportion-integral-derivative (PID) control system were analyzed from the view of sliding mode variable structure control (VSC), and the structure of conventional PID control was optimized. According to the nonlinear ship course control system, the integration control was introduced, and the integral compensation PID and parameter adaptive algorithm were proposed. Simulation on ship course control system was carried out by using MATLAB. Results show that the system overshoot decreases obviously, and the steady-state error resulted from outside chattering was eliminated, and the problems of overshoot and parameters adjustment resulted from conventional PID control were circumvented in the proposed algorithm. In addition, it verifies the excellent robustness of the proposed algorithm, and obvious advantage of parameter adaptive controller.
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