CN103558854A - Course control method and system for sail navigation aid ship - Google Patents
Course control method and system for sail navigation aid ship Download PDFInfo
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Abstract
The invention relates to a course control method and system for a sail navigation aid ship. The method includes the steps that the optimal sail angle of a sail is adjusted according to wind power and the wind direction; the off-course angle of the sail at the time of optimal sail angle outputting is detected, off-course, caused for the ship, of the sail is calculated according to the off-course angle, and a compensation value is provided; a feedback value of a rudder output drift angle is detected, and an output value of a rudder angle is changed according to the error between the feedback value and a course set value; course is determined according to the compensation value and the output value of the rudder angle. The system comprises a wind power sensor, a sail angle control device, a first sail angle sensor, a feed-forward controller, a drift angle sensor, a rudder angle sensor and a rudder angle servo device. Feed-forward control is adopted, adjustment can be performed in advance, disturbance of transverse force is restrained, so that a rudder acts in advance to compensate the off-course caused by the sail when the course is not changed yet, and finally the ship invariably sails on a preset course.
Description
Technical field
The present invention relates to the constant-bearing navigation of sail boats and ships, more particularly, relate to a kind of sail-assisted propulsion ship course control method and system.
Background technology
Wind energy is a kind of never exhausted energy.Wind energy has efficiently, cleans, free of contamination feature, and its application tool on the bulk coal ship of large-scale ocean is of great significance.Because marine wind direction and wind-force often can change, the thrust that sail provides and transverse force also can change thereupon.The effect of transverse force can make boats and ships depart from prearranged heading and cause driftage, makes originally because sail auxiliary propulsion and energy under saving has been wasted on unnecessary stroke.It is application background that the present invention is intended to take the large-scale ocean of sail-assisted propulsion bulk freighter, and research sail-assisted propulsion boats and ships change at wind direction, wind-force the control method that keeps prearranged heading under situation.This application to sail-assisted propulsion boats and ships has very important theory and realistic meaning.
At present, abundanter about the achievement of marine course control system aspect.Control method for marine course control system has the methods such as fuzzy control, neural network, sliding formwork, Adaptive PID Control.For the course heading control method under the impact of disturbance and model uncertainty, there is robust control theory.Yet, rare about the achievement of the control aspect, course of sail-assisted propulsion boats and ships.Some scholar just keeps watch as distracter, as for the quantitative test between wind-force, wind direction and course, yet there are no analysis.Just fixedly wind direction, fixedly course control during sail angle that some scholars considers in addition.Yet Oversea wind, wind direction are often to change, sail angle also can often change, and this causes thrust and transverse force that sail provides also can often change, and this directly has influence on course and the speed of a ship or plane of boats and ships.In addition, some scholars adopt evolution of feedback controlling theory to control ship course, the feature of this control method is " regulating " afterwards, there is course deviation just to have control action, especially for the object of this large inertia of boats and ships, although this FEEDBACK CONTROL can be corrected driftage, also can be very slow but can produce driftage and correct the process of going off course.Therefore, be necessary to adopt suitable control method, to because the driftage that wind direction and windage cause judge in advance and provide control action, just compensation in advance when course is not also changed.
Summary of the invention
The technical problem to be solved in the present invention is, a kind of sail-assisted propulsion ship course control method and system are provided, and in the time of can making course also not change, rudder just moves to compensate the driftage that sail causes in advance, finally makes ship running constant in prearranged heading.
The technical solution adopted for the present invention to solve the technical problems is: construct a kind of sail-assisted propulsion ship course control method, comprising:
According to the best sail angle of wind-force and wind direction adjustment sail;
Detect the crab angle that sail causes when best sail angle output, according to crab angle, calculate the driftage that sail causes boats and ships, and the value of affording redress;
Detect the value of feedback of steering wheel output drift angle, according to the error between described value of feedback and course set-point, change the output valve of rudder angle;
According to the output valve of described offset and rudder angle, determine course.
In such scheme, the described output sail angle according to wind-force and wind direction adjustment sail comprises:
Detect the value of feedback of the sail angle of output;
According to the output valve of the value of feedback of described sail angle and best sail angle instruction change sail angle controller;
According to the Displacement Feedback difference of the output valve of described sail angle controller and variable output pump, the displacement of variable oil cylinder is controlled, thereby the pivot angle of the stroking mechanism of control variable pump, thereby control variable pump capacity, and then control the corner of oil motor, finally controlled the sail angle of the sail wing;
Detect the displacement of described variable oil cylinder and feed back to the input end of described variable output pump displacement control device.
In such scheme, the output valve that the error between described value of feedback and course set-point changes rudder angle adopts fuzzy control to comprise:
Obfuscation, adopts two-dimensional fuzzy controller, and input variable is set-point and the output deviation of value of feedback and the rate of change of deviation; First input quantity is carried out to domain conversion, then the numerical value obtaining is passed through to the obfuscation of monodrome fuzzy device, obtain one about the degree of membership fuzzy vector of this numerical value;
Fuzzy reasoning, first determines a fuzzy output set by every rule, and every rule is explained with membership function; Then the degree of membership fuzzy vector after input obfuscation is multiplied by the fuzzy output that every rule membership function is determined every rule; Finally the definite output of every rule is combined;
Ambiguity solution shines upon the point in fuzzy set on articulation point, and the dynamic change value that scale factor is P, I, D parameter is multiplied by the fuzzy output obtaining.
In such scheme, the input function of described membership function adopts the higher trigonometric function of sensitivity, and near the function shape 0 value is more intensive, and output function adopts positive triangular membership functions.
The present invention also provides a kind of sail-assisted propulsion marine course control system, comprising:
Wind sensor, for detection of wind-force and wind direction;
Sail sail angle control device, for adjusting the best sail angle of sail according to wind-force and wind direction;
The first sail angle sensor, the crab angle causing when best sail angle is exported for detection of sail;
Feedforward controller, for calculating according to crab angle the driftage that sail causes boats and ships, and the value of affording redress;
Drift angle sensor, detects the value of feedback that steering wheel is exported drift angle;
Helm control device, according to the output valve of the error change rudder angle between described value of feedback and course set-point;
Rudder angle servomechanism installation, determines the course of steering wheel according to the output valve of described offset and rudder angle.
In such scheme, described sail sail angle control device comprises:
The second sail angle sensor, for detection of the value of feedback of the sail angle of exporting;
Sail angle controller, for changing the output valve of sail angle controller according to the value of feedback of described sail angle and best sail angle instruction;
Variable output pump displacement control device, for the displacement of variable oil cylinder is controlled, thus the pivot angle of the stroking mechanism of control variable pump, thus control variable pump capacity;
Variable output pump, for controlling the corner of oil motor;
Oil motor, for controlling the sail angle of the sail wing;
Displacement transducer, for detection of the displacement of described variable oil cylinder and feed back to the input end of described variable output pump displacement control device.
In such scheme, described variable output pump displacement control device comprises displacement controller, proportional amplifier and the electro-hydraulic proportional valve connecting successively, and described displacement controller is for controlling variable oil cylinder according to the value of feedback of the displacement of the instruction of described sail angle controller output and described variable oil cylinder.
In such scheme, described helm control device adopts fuzzy to control, and it comprises:
Fuzzier unit, its input variable is set-point and the output deviation of value of feedback and the rate of change of deviation; Described fuzzier unit, for input quantity is carried out to domain conversion, is then passed through the obfuscation of monodrome fuzzy device the numerical value obtaining, and obtains one about the degree of membership fuzzy vector of this numerical value;
Fuzzy reasoning unit, for determined a fuzzy output set by every rule, explains every rule with membership function; Then the degree of membership fuzzy vector after input obfuscation is multiplied by the fuzzy output that every rule membership function is determined every rule; Finally the definite output of every rule is combined;
Ambiguity solution unit, for the point in fuzzy set is shone upon on articulation point, the dynamic change value that scale factor is P, I, D parameter is multiplied by the fuzzy output obtaining.
In such scheme, described displacement controller is submaster controller, adopts classical pid control algorithm.
In such scheme, the input function of described membership function adopts the higher trigonometric function of sensitivity, and near the function shape 0 value is more intensive, and output function adopts positive triangular membership functions.
Implement sail-assisted propulsion ship course control method of the present invention and system, there is following beneficial effect:
The present invention adopts feedforward control, can make adjustment in advance, suppresses the interference of transverse force, and when course is not also changed, rudder just moves to compensate the driftage that sail causes in advance, finally makes ship running constant in prearranged heading.The present invention can make full use of wind energy, can effectively reduce the operation cost of boats and ships, reduces the burning of fossil energy, reduces carbon emission, also meets current energy-saving and cost-reducing shipping industry development principle simultaneously.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is sail-assisted propulsion marine course control system block diagram of the present invention;
Fig. 2 is the block diagram of sail sail angle control device;
Fig. 3 is the study route figure of control algolithm;
Fig. 4 is the block diagram of fuzzy controller.
Embodiment
For technical characterictic of the present invention, object and effect being had more clearly, understand, now contrast accompanying drawing and describe the specific embodiment of the present invention in detail.
Sail-assisted propulsion ship course control method of the present invention, comprising:
Step S1, according to wind-force and wind direction, adjust the best sail angle of sail;
The crab angle that step S2, detection sail cause when best sail angle output, calculates according to crab angle the driftage that sail causes boats and ships, and the value of affording redress;
The value of feedback of step S3, detection steering wheel output drift angle, according to the output valve of the error change rudder angle between value of feedback and course set-point;
Step S4, according to the output valve of offset and rudder angle, determine course.
Wherein, step S1 further comprises:
The value of feedback of the sail angle of step S11, detection output;
Step S12, according to the value of feedback of sail angle and best sail, to the instruction at angle, change the output valve of sail angle controller;
Step S13, according to the Displacement Feedback difference of the output of sail angle controller and variable output pump, the displacement of variable oil cylinder is controlled, thereby the pivot angle of the stroking mechanism of control variable pump, thereby control variable pump capacity, and then control the corner of oil motor, finally controlled the sail angle of the sail wing;
The displacement of step S14, detection variable oil cylinder also feeds back to the input end of variable output pump displacement control device.
Further, step S3 and S12 all adopt fuzzy control, comprise following three steps:
Obfuscation, adopts two-dimensional fuzzy controller, and input variable is set-point and the output deviation of value of feedback and the rate of change of deviation; First input quantity is carried out to domain conversion, then the numerical value obtaining is passed through to the obfuscation of monodrome fuzzy device, obtain one about the degree of membership fuzzy vector of this numerical value;
Fuzzy reasoning, first determines a fuzzy output set by every rule, and every rule is explained with membership function; Then the degree of membership fuzzy vector after input obfuscation is multiplied by the fuzzy output that every rule membership function is determined every rule; Finally the definite output of every rule is combined; The input function of membership function adopts the higher trigonometric function of sensitivity, and near the function shape 0 value is more intensive, and output function adopts positive triangular membership functions;
Ambiguity solution shines upon the point in fuzzy set on articulation point, and the dynamic change value that scale factor is P, I, D parameter is multiplied by the fuzzy output obtaining.
As shown in Figure 1, sail-assisted propulsion marine course control system of the present invention comprises wind sensor, sail sail angle control device, the first sail angle sensor, feedforward controller, drift angle sensor, helm control device and rudder angle servomechanism installation.
Wherein, wind sensor, for detection of wind-force and wind direction.Sail sail angle control device, for adjusting the best sail angle of sail according to wind-force and wind direction.The first sail angle sensor, the crab angle causing when best sail angle is exported for detection of sail.Feedforward controller, for calculating according to crab angle the driftage that sail causes boats and ships, and the value of affording redress.Drift angle sensor, detects the value of feedback that steering wheel is exported drift angle.Helm control device, according to the output valve of the error change rudder angle between value of feedback and course set-point.Rudder angle servomechanism installation, determines the course of steering wheel according to the output valve of offset and rudder angle.
As shown in Figure 2, further, sail sail angle control device comprises the second sail angle sensor, sail angle controller, variable output pump displacement control device, variable output pump, oil motor and displacement transducer.
Wherein, the second sail angle sensor, for detection of the value of feedback of the sail angle of exporting.Sail angle controller, adopts fuzzy control, for change the output valve of sail angle controller according to the value of feedback of sail angle and best sail angle instruction.Variable output pump displacement control device, for the displacement of variable oil cylinder is controlled, thus the pivot angle of the stroking mechanism of control variable pump, thus control variable pump capacity.Variable output pump, for controlling the corner of oil motor.Oil motor, for controlling the sail angle of the sail wing.Displacement transducer, for detection of the displacement of variable oil cylinder and feed back to the input end of variable output pump displacement control device.Oil motor is connected with sail wing yaw system with speed reduction unit.
Further, variable output pump displacement control device comprises displacement controller, proportional amplifier and the electro-hydraulic proportional valve connecting successively, and displacement controller is for controlling variable oil cylinder according to the value of feedback of the displacement of the instruction of sail angle controller output and variable oil cylinder.Displacement controller is submaster controller, adopts classical pid control algorithm.
As shown in Figure 4, further, helm control device and sail angle controller adopt fuzzy to control, and all comprise fuzzier unit, fuzzy reasoning unit reconciliation blur unit.Wherein,
Fuzzier unit, its input variable is set-point and the output deviation of value of feedback and the rate of change of deviation; Fuzzier unit, for input quantity is carried out to domain conversion, is then passed through the obfuscation of monodrome fuzzy device the numerical value obtaining, and obtains one about the degree of membership fuzzy vector of this numerical value;
Fuzzy reasoning unit, for determined a fuzzy output set by every rule, explains every rule with membership function; Then the degree of membership fuzzy vector after input obfuscation is multiplied by the fuzzy output that every rule membership function is determined every rule; Finally the definite output of every rule is combined; The input function of membership function adopts the higher trigonometric function of sensitivity, and near the function shape 0 value is more intensive, and output function adopts positive triangular membership functions;
Ambiguity solution unit, for the point in fuzzy set is shone upon on articulation point, the dynamic change value that scale factor is P, I, D parameter is multiplied by the fuzzy output obtaining.
The present invention adopts feedforward control, can make adjustment in advance, suppresses the interference of transverse force, and when course is not also changed, rudder just moves to compensate the driftage that sail causes in advance, finally makes ship running constant in prearranged heading.The present invention can make full use of wind energy, can effectively reduce the operation cost of boats and ships, reduces the burning of fossil energy, reduces carbon emission, also meets current energy-saving and cost-reducing shipping industry development principle simultaneously.
Because the devices itself such as boats and ships, rudder, sail are all the dynamic perfromances with more complicated, its model parameter has uncertainty, and under ocean condition, ship course also can be subject to the impact of the uncertain factors such as wave and ocean current.Therefore,, in the control procedure of course, need as far as possible rudder to take optimum control to reach the Control performance standard of keeping system of minimum object while of energy consumption in control procedure.Adopt fuzzy control to make the tracing preset course that ship course can fast and stable.
The present invention intends first research object being analyzed, and works out suitable control system and control algolithm, and adopts MATLAB to carry out simulating, verifying.Concrete technical scheme as shown in Figure 3, is first selected suitable sail type, and sail type and actuator model are analyzed, and sets up their equation of motion; For the loading characteristic of sail, from aerodynamic angle, obtain the relation between its wind-force, wind direction, sail angle, course; Model selection for sail and steering wheel is existing, and their equation of motion also obtains on series of experiments data basis.Therefore, in simulation process, directly can show, only need CONTROLLER DESIGN; The design of controller comprises the compound control of feedforward and Feedback and sail angle control, and the algorithm of controller adopts classical PID to control and fuzzy is controlled.Because fuzzy is controlled as pid parameter self-regulation control, can dynamically change P, I, tri-parameters of D.Therefore, compare classical PID and control, it can reach better dynamic effect; Finally system ambiguous rule is debugged and emulation.
For such scheme route, the present invention, according to the experimental data of some lists of references, has done some to this design and has specifically studied.Wherein sail is selected the rectangle sail wing, according to experimental data, arranges, and can obtain the best sail of the sail wing when apparent wind angle is θ to angle β
opt.In matlab, adopt plot function to carry out curve fitting and obtain the data relationship of simulation these digital quantities, for arbitrary apparent wind angle, have a corresponding best sail to angle.For steering wheel part, according to list of references, analyze its work characteristics, then based on wild this model, can set up its equation of motion, obtain rudder angle δ
rwild this model of approximate single order to drift angle ψ.
K wherein
rfor scale-up factor, T is time constant, and S is the complex variable in complex field.
Aspect sail angle control, first according to the feature of control object, first adopt classical PID to adjust to its parameter, in order to guarantee the stability of system, according to labor, think stable state criterion and try to achieve parameter area, by emulation in matlab, select one group to control preferably parameter of effect, then design on this basis fuzzy controller, the output valve of fuzzy controller is added in this group parameter, dynamically changes the value of parameter.
Feedforward feedback control aspect, feedforward is mainly to suppress interference effect.Therefore, the principle of design feedforward controller is to guarantee that feed-forward loop is zero with disturbing loop on last output impact.The design of feedback controller is also to control based on classical PID, and the parameter here is rule of thumb gathered and tried to obtain.The output of same fuzzy controller is also dynamically changing the parameter of PID.
Present invention focuses on the control algolithm of controller, wherein mainly use fuzzy control.Fuzzy control is on the basis of controlling in classical PID control algolithm, according to output and given difference with and rate of change, utilize fuzzy rule constantly to change Δ K
p, Δ K
i, Δ K
dthe value of three parameters, so that output valve can respond set-point fast.
Fuzzy controller can be one dimension, can be also two-dimentional, and dimension is more, and precision is higher, but control law is also more complicated.Therefore, adopt two-dimensional fuzzy controller.Its controller system forms as shown in Figure 4.
Fuzzy controller is mainly comprised of obfuscation, fuzzy reasoning and ambiguity solution as seen from Figure 4.The example that is designed to of the following fuzzy controller with rudder angle control is specifically set forth:
The design of Fuzzy Controller of rudder angle control:
1. obfuscation
In invention, adopt two-dimensional fuzzy controller, the difference that input variable is elected set course and steering wheel output drift angle as with and rate of change.First they are carried out to domain conversion, control the value obtaining under (not adopting integration control) effect at PD, be multiplied by a quantizing factor, deviation is transformed to the numerical value between [6,6], deviation variation rate is transformed to the numerical value between [6,6], works as K in invention
p=5, K
d=90 o'clock, the variation range of corresponding deviation e was [0,1], and the variation range of deviation variation rate ec is [0.0285,0].Then the numerical value obtaining is passed through in matlab to the obfuscation of monodrome fuzzy device, obtain one about the degree of membership fuzzy vector of this number, the membership values in a certain number is 1, and other points are 0.
2. fuzzy reasoning
After having defined domain, will determine fuzzy set, in invention, select NB, NM, NS, NO, PS, PM, seven fuzzy sets of PB, respectively representative negative large, negative in, negative little, zero, just little, center, honest, it accurately transforms to input quantity in the middle of fuzzy set.Fuzzy language value is finally described by subordinate function, determines that first subordinate function will select the shape of subordinate function, and in invention, input adopts the higher trigonometric function of sensitivity, and output adopts direct trigonometric function.Fuzzy rule obtains according to previous experiences, such as the starting stage in response, e=PB, ec=NS, Δ K now
p=PB, Δ K
d=PM, wishes that system has response speed faster; When system soon reaches steady state (SS), e=PS, ec=NS, Δ K now
p=ZO, Δ K
d=PS, for fear of overshoot, now should reduce proportional action, and the differential action can Reducing overshoot.Therefore, according to the situation of change of continuous observation e and ec and output, can obtain meeting the fuzzy rule of expectation, and with fuzzy language, every fuzzy rule be expressed.Fuzzy reasoning combines fuzzy rule by certain mode.What in invention, adopt is independent reasoning, and inference method is Mamdani, with operational method be min, exclusive disjunction method is max, Fuzzy implication method is min, Fuzzy Aggregation method is max.
Fuzzy reasoning may be summarized to be: 1) by every rule, determine a fuzzy output set, every rule is explained with membership function; 2) membership values after input obfuscation is multiplied by the fuzzy output that every rule membership function is determined every rule; 3) the definite output of every rule is combined.
3. ambiguity solution
The ambiguity solution method that the present invention uses is maximum membership degree method.Then the output of fuzzy controller is multiplied by quantizing factor and carries out domain inverse transformation, can obtain actual output quantity.
By reference to the accompanying drawings embodiments of the invention are described above; but the present invention is not limited to above-mentioned embodiment; above-mentioned embodiment is only schematic; rather than restrictive; those of ordinary skill in the art is under enlightenment of the present invention; not departing from the scope situation that aim of the present invention and claim protect, also can make a lot of forms, within these all belong to protection of the present invention.
Claims (10)
1. a sail-assisted propulsion ship course control method, is characterized in that, comprising:
According to the best sail angle of wind-force and wind direction adjustment sail;
Detect the crab angle that sail causes when best sail angle output, according to crab angle, calculate the driftage that sail causes boats and ships, and the value of affording redress;
Detect the value of feedback of steering wheel output drift angle, according to the error between described value of feedback and course set-point, change the output valve of rudder angle;
According to the output valve of described offset and rudder angle, determine course.
2. sail-assisted propulsion ship course control method according to claim 1, is characterized in that, the described output sail angle according to wind-force and wind direction adjustment sail comprises:
Detect the value of feedback of the sail angle of output;
According to the output valve of the value of feedback of described sail angle and best sail angle instruction change sail angle controller;
According to the Displacement Feedback difference of the output valve of described sail angle controller and variable output pump, the displacement of variable oil cylinder is controlled, thereby the pivot angle of the stroking mechanism of control variable pump, thereby control variable pump capacity, and then control the corner of oil motor, finally controlled the sail angle of the sail wing;
Detect the displacement of described variable oil cylinder and feed back to the input end of described variable output pump displacement control device.
3. sail-assisted propulsion ship course control method according to claim 1, is characterized in that, the output valve that the error between described value of feedback and course set-point changes rudder angle adopts fuzzy control to comprise:
Obfuscation, adopts two-dimensional fuzzy controller, and input variable is set-point and the output deviation of value of feedback and the rate of change of deviation; First input quantity is carried out to domain conversion, then the numerical value obtaining is passed through to the obfuscation of monodrome fuzzy device, obtain one about the degree of membership fuzzy vector of this numerical value;
Fuzzy reasoning, first determines a fuzzy output set by every rule, and every rule is explained with membership function; Then the degree of membership fuzzy vector after input obfuscation is multiplied by the fuzzy output that every rule membership function is determined every rule; Finally the definite output of every rule is combined;
Ambiguity solution shines upon the point in fuzzy set on articulation point, and the dynamic change value that scale factor is P, I, D parameter is multiplied by the fuzzy output obtaining.
4. sail-assisted propulsion ship course control method according to claim 3, it is characterized in that, the input function of described membership function adopts the higher trigonometric function of sensitivity, and near the function shape 0 value is more intensive, and output function adopts positive triangular membership functions.
5. a sail-assisted propulsion marine course control system, is characterized in that, comprising:
Wind sensor, for detection of wind-force and wind direction;
Sail sail angle control device, for adjusting the best sail angle of sail according to wind-force and wind direction;
The first sail angle sensor, the crab angle causing when best sail angle is exported for detection of sail;
Feedforward controller, for calculating according to crab angle the driftage that sail causes boats and ships, and the value of affording redress;
Drift angle sensor, detects the value of feedback that steering wheel is exported drift angle;
Helm control device, according to the output valve of the error change rudder angle between described value of feedback and course set-point;
Rudder angle servomechanism installation, determines the course of steering wheel according to the output valve of described offset and rudder angle.
6. sail-assisted propulsion marine course control system according to claim 5, is characterized in that, described sail sail angle control device comprises:
The second sail angle sensor, for detection of the value of feedback of the sail angle of exporting;
Sail angle controller, for changing the output valve of sail angle controller according to the value of feedback of described sail angle and best sail angle instruction;
Variable output pump displacement control device, for the displacement of variable oil cylinder is controlled, thus the pivot angle of the stroking mechanism of control variable pump, thus control variable pump capacity;
Variable output pump, for controlling the corner of oil motor;
Oil motor, for controlling the sail angle of the sail wing;
Displacement transducer, for detection of the displacement of described variable oil cylinder and feed back to the input end of described variable output pump displacement control device.
7. sail-assisted propulsion marine course control system according to claim 6, it is characterized in that, described variable output pump displacement control device comprises displacement controller, proportional amplifier and the electro-hydraulic proportional valve connecting successively, and described displacement controller is for controlling variable oil cylinder according to the value of feedback of the displacement of the instruction of described sail angle controller output and described variable oil cylinder.
8. sail sail angle control system according to claim 6, is characterized in that, described helm control device adopts fuzzy to control, and it comprises:
Fuzzier unit, its input variable is set-point and the output deviation of value of feedback and the rate of change of deviation; Described fuzzier unit, for input quantity is carried out to domain conversion, is then passed through the obfuscation of monodrome fuzzy device the numerical value obtaining, and obtains one about the degree of membership fuzzy vector of this numerical value;
Fuzzy reasoning unit, for determined a fuzzy output set by every rule, explains every rule with membership function; Then the degree of membership fuzzy vector after input obfuscation is multiplied by the fuzzy output that every rule membership function is determined every rule; Finally the definite output of every rule is combined;
Ambiguity solution unit, for the point in fuzzy set is shone upon on articulation point, the dynamic change value that scale factor is P, I, D parameter is multiplied by the fuzzy output obtaining.
9. variable output pump displacement control device according to claim 7, is characterized in that, described displacement controller is submaster controller, adopts classical pid control algorithm.
10. sail sail angle control method according to claim 8, is characterized in that, the input function of described membership function adopts the higher trigonometric function of sensitivity, and near the function shape 0 value is more intensive, and output function adopts positive triangular membership functions.
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| CN112230666B (en) * | 2020-10-30 | 2024-06-07 | 上海海事大学 | Drift angle correction course control method based on self-adaptive extended state observer |
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