Design and Stability Analysis of Fuzzy Switched PID Controller for Ship Track-Keeping

• 作者: Baozhu Jia Hui Cao Jie Ma
• 来源期刊: 交通科技期刊(英文)
• 学科: 数学
• 关键词: Ship Control FUZZY SWITCHED PID TRACK-KEEPING FUZZY Operating REGIME Stability Condition
• 年，卷（期）: jtkjqkyw_2012,（4）
• 页码范围: 334-338
• 页数: 5页
• 分类号: O1

摘要

The fuzzy switched PID controller which combines fuzzy PD and conventional PI controller is proposed for ship track-keeping autopilot In this paper. By using rudder angle, the whole voyage is divided into two operating regimes which named transient operating regime and steady operating regime respectively. The fuzzy PD controller is employed in transient operating regime for increasing response, reducing overshoot and shorting transition time. And conventional PI controller is used to improve the stable accuracy in steady operating regime. The global controller is achieved by fuzzy blending of all local controllers. Routh stability criterion is utilized to obtain the stability condition of closed-loop system. The simulation results show the effectiveness of proposed method.