减摇鳍模糊免疫自适应PID控制器设计及仿真研究

针对船舶横摇的非线性模型,利用免疫反馈机理,设计了一种减摇鳍模糊免疫自适应PID控制器。控制器将模糊控制与PID控制相结合,采用Fuzzy推理,对非线性函数进行模糊逼近,用模糊免疫P调节器实时整定PID控制器的比例增益,采用常规模糊控制器在线调整免疫PID控制器的积分时间常数和微分时间常数。通过对船舶减摇鳍控制系统的仿真,可以看出采用模糊免疫自适应PID控制器其控制效果远优于常规PID控制器,使减摇鳍的减摇效果得到显著提高。

Design and simulation of fuzzy immune self-adaptation PID controller of fin stabilizer

This paper aims at the nonlinear module of ship roll motion,combines fuzzy control with PID control and uses immune feedback mechanism to design a fuzzy immune self-adaptation PID controller of fin stabilizer.Fuzzy reasoning is used to approach the nonlinear function faintly and fuzzy immune P adjuster is used to adjust proportion gain of PID real-time,and meanwhile,in order to obtain better control effect,general fuzzy controller is used to adjust integral and differential time constants of immune PID controller on line.Through simulation of the ship-fin stabilizer system,it can be seen that using fuzzy immune self-adaptation PID controller can obtain better control effect than general PID controller,and the stabilization effect of fin stabilizer increases obviously.