在线自整定PID船舶自动舵的设计与实现  

Design and Implementation of Self-tuning PID Marine Automatic Steering

作　　者：张桂臣[1] 任光[1] 

机构地区：[1]大连海事大学轮机工程学院,辽宁大连116026

出　　处：《中国造船》2007年第3期44-49,共6页Shipbuilding of China

摘　　要：介绍了常规PID自动舵参数整定的困难,简述了继电型自整定PID控制的基本原理及PLC实现的基本方法,提出了基于PLC的在线自整定PID船舶自动舵的设计和实现方案,该自整定PID自动舵能够自动适应船况和海况的变化,实现PID参数无扰动切换、变增益调节、抗积分饱和、微分先行等功能,克服了常规PID舵机振荡等缺陷。实船应用表明,该自整定PID船舶自动舵的有效性。The difficulty in tuning the regular PID autopilot parameters as well as the poor control effect thereof are introduced in this paper. The basic principle in relay feedback self-tuning and an implement method to the self-tuning PID with PLC are also explained. The design and the realization plan of the PLC-based on-line self-tuning PID marine automatic steering are further put forward. Being capable of automatically adapting well to the changes of the conditions of the ship and sea, this self-tun- ing PID marine automatic steering can not only realize non-disturbance switching, variable gain adjustment, anti-integral saturation and differential in advance and so on, but also overcome steering oscillation. The validity of the self-tuning PID marine automatic steering is verified in practice.

关 键 词：船舶 舰船工程 自整PID 船舶自动舵 继电反馈 

分 类 号：U666.124[交通运输工程—船舶及航道工程]