基于非线性PID的船舶航向自动舵设计  

Nonlinear PID Design for Ship Course Autopilot Control

作　　者：林永屹[1] 陈晓琴[1] 周涛[1] 

机构地区：[1]江苏海事职业技术学院电气工程系,南京211170

出　　处：《船电技术》2009年第6期46-49,共4页Marine Electric & Electronic Engineering

摘　　要：本文针对线性Nomoto船舶运动模型,讨论了一种非线性PID船舶航向自动舵的设计方法,该非线性PID船舶航向自动舵设计简单,在航向自动舵传统PID设计方法的基础上,串连一项非线性函数便可实现,设计过程中需要合理的构造非线性函数。本文以大连海事大学实习船"育龙"号为例进行仿真研究,仿真结果表明非线性PID型控制比传统的PID型控制具有优越的动静态性能,鲁棒性能好。Nonlinear PID design for ship course autopilot is discussed aimed at linear Nomoto ship motion model. The nonlinear PID design is easily accomplished in cascade with nonlinear function based on traditional PID type autopilot. Selecting the proper nonlinear PID ＇is necessary .At last, a simulation for ship ＂Yulong＂ belonging to Dalian Marintime University shows that the superior performance of the nonlinear PID control to the traditional PID control.

关 键 词：船舶航向自动舵 非线性PID控制 传统PID控制 

分 类 号：U666.153[交通运输工程—船舶及航道工程]