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中文摘要：
航速变化及由此引起的干扰使得船舶航向控制较为困难。基于常规max-min型Mamdani模糊控制器（fuzzy controller,FC）,再增加积分项,将PD型模糊控制器与PI型模糊控制器相并联,构造了一种新的船舶航向PID型模糊控制器。该模糊控制器充分利用了常规PID控制器的设计经验来调节参数。不同航速下的5 446TEU集装箱船及＂育龙＂号实习船模型仿真结果表明,与常规PID控制器和模糊控制器的效果相比,不但航向设定值跟踪控制性能得到了保证,还具有更好的鲁棒性和抗干扰能力。
英文摘要：
The variation of marine speed and the disturbance make it difficult to control the ship course.Based on conventional max-min Mamdani fuzzy controller,and combined with the effect of the integral item,a novel fuzzy controller with PID structure for ship course is constructed as a parallel structure of a PD-like fuzzy controller and a PI-like fuzzy controller.It takes full advantage of mature technology of conventional PID controller to adjust the fuzzy controller parameters.Compared with the conventional PID controller and fuzzy controller at different marine speed for the 5 446TEU container ship and the ＂Yulong＂ practice ship model,simulation results show that not only a better control performance of this controller in fixed value course tracking is achieved,but its robustness and anti-disturbances capability is improved.
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