论文部分内容阅读
针对减摇鳍系统严重的非线性和不确定性问题,在常规鳍轴基础上进行改进,提出新型升力反馈方法,并设计切换模糊化的非线性自适应滑模控制器。利用乘积推理机、单值模糊器和中心平均解模糊器设计,将滑模控制器中的切换项进行模糊逼近,使其连续化,有效降低系统输出抖振,提高减摇鳍的抗干扰性。以一艘装备某型减摇鳍的船为对象进行实验台仿真分析,结果表明,所设计的控制器对减摇鳍系统模型不确定参数摄动及外界干扰不敏感,具有较强鲁棒性,且在不同航速和遭遇角下,与PID控制器相比减摇效果更佳。
Aiming at the severe nonlinearity and uncertainty of fin stabilizer system, a new lift feedback method is proposed based on the conventional fin shaft, and the fuzzy adaptive nonlinear sliding mode controller is designed. Using product inference engine, single value fuzzy controller and central average defuzzifier design, the switching term in the sliding mode controller is approximated by fuzzy and made continuous so as to effectively reduce the output chattering and improve the anti-interference of the fin stabilizer . The simulation analysis of a testbed with a type of fin stabilizers is carried out. The results show that the designed controller is insensitive to the uncertain parameters perturbation and external disturbances of the finned stabilizer system model, and has strong robustness , And at different speed and encounter angle, compared with the PID controller shakes better.