在线自整定PID控制的船舶自动舵  

Marine Autopilot with on-line Auto-tuning PID Controller

作　　者：于洋[1] 

机构地区：[1]青岛远洋船员学院机电系,山东青岛266071

出　　处：《船电技术》2008年第3期137-139,共3页Marine Electric & Electronic Engineering

摘　　要：介绍了继电型自整定PID控制的基本原理及PLC实现的基本方法,设计了基于PLC的在线自整定PID船舶自动舵。该自整定PID自动舵能够自动适应船况和海况的变化,实现无扰动切换、变增益调节等功能,克服了舵机振荡。实船应用证明了该自整定PID船舶自动舵的有效性。In this paper, the fundamental principle of auto-tuning PID control in relay feedback and the basic method of PLC accomplishment are introduced; marine autopilot with on-line auto-tuning PID based on PLC is designed. Being capable of automatically adapting well to the changes of the conditions of the ship and sea, this auto-tuning PID autopilot can not only realize non-disturbance switching, variable gain adjustment and so on, but also overcome steering oscillation. The validity of the self-tuning PID marine autopilot is verified in practice.

关 键 词：自整定PID 船舶自动舵 继电反馈 S7-200 PLC 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]