佛山大学学报（自然科学版）2026，Vol.44Issue(4)：53-59,7.
考虑伺服机构特性的船舶自动操舵仪模糊控制研究
Research on fuzzy control of ship automatic steering gear considering servo mechanism characteristics
摘要
Abstract
Servo mechanisms in ship maneuvering are susceptible to nonlinear characteristics caused by fluctuations in control signals,resulting in nonlinear errors in the control process.Therefore,this article studies the fuzzy control method of ship automatic steering system under the condition of considering the characteristics of servo mechanism.A ship state space model is constructed with considering the nonlinear characteristics of ship servo mechanisms;a fuzzy controller is designed based on the PID control equation and fuzzy control algorithm;fuzzy control of ship autopilot is realized through nonlinear error gain and feedforward compensation.The experimental results show that the designed control method achieves a navigation trajectory error fluctuation close to 0,with a control time of only 0.2 seconds.After being disturbed,it takes the shortest time to recover to the preset trajectory,and the control effect is good.关键词
伺服机构特性/船舶自动操舵仪/模糊控制器/船舶状态空间模型Key words
servo mechanism characteristics/automatic ship steering system/fuzzy controller/ship state space model分类
交通工程引用本文复制引用
李德珊,魏旻..考虑伺服机构特性的船舶自动操舵仪模糊控制研究[J].佛山大学学报（自然科学版）,2026,44(4):53-59,7.基金项目
福建省中青年教师教育科研类项目(JAT241290) （JAT241290）
