基于模糊自整定PID的气垫登陆艇航向控制器研究

Research on Air Cushion Landing Craft Course Automatic Control Method Based on Fuzzy Self-tuning PID

摘要:

基于空气舵操纵面开展了气垫艇航向控制研究,分析了PID航向控制器的原理,设计了基于模糊自整定PID的航向控制器。根据PID控制器各参数的控制规律和经验总结,设计了一种模糊整定器,并给出了具体设计步骤。该整定器可以在气垫船航向控制中实时调节控制器比例、积分和微分参数值。在相同条件下比较了传统PID控制器和模糊自整定PID控制器的控制性能,试验结果表明模糊自整定PID控制器鲁棒性加强,动态、静态性能更好。

Abstract:

The driving and control system of Certain typed LCAC was selected as the research object, an automatic control method based on fuzzy self-tuning PID control is introduced into LCAC course control. Air rudder is chosen as the common control surface of LCAC’s course control. The basic principle of PID course controller is studied and analyzed. According to the control law and experience summary of the parameters of the PID controller, a fuzzy self-tuning PID controller is designed. The specific design steps are given. The tuner can adjust the proportional and differential parameters of the controller in real time in the course control of the LCAC. The simulation results show that the fuzzy self-tuning PID controller can make the course control smoother and no overshoot, shorten the adjusting time of the controller and improve the robustness of the system.