模糊自适应PID算法在波浪补偿起重机中的应用  

Application of Fuzzy Self-adaptive PID Algorithm in Heave Compensation Crane

作　　者：张新福[1] 卢东庆[2] 黄海波[1] 冯林[1] 

机构地区：[1]中国人民解放军92117部队 [2]中国人民解放军91878部队

出　　处：《工业控制计算机》2011年第3期63-65,共3页Industrial Control Computer

摘　　要：在波浪补偿控制中,由于波浪运动具有非线性、时变等特点,常规PID算法难以满足控制要求。为实现对波浪引起的两船相对运动的补偿控制,采用模糊自适应PID算法,运用模糊推理在线修正PID控制器的三个参数Kp、Ki、Kd。实际运行结果表明,该控制器具有较好的快速性和稳定性。In the control of wave compensation,the conventional PID control algorithm satisfies the request of control with difficulty because the wave movement has the factors of time-variability,non-linearity,uncertainty and so on.The compensation control on the relative movement between two ships reduced by wave is realized with the fuzzy self-adaptive PID algorithm,and three parameters Kp,Ki,Kd of the PID controller are also revised online through the fuzzy inference.

关 键 词：模糊PID 波浪补偿 在线修正 自适应 

分 类 号：U664[交通运输工程—船舶及航道工程]