减摇鳍模糊免疫自适应PID控制器设计及仿真研究

针对船舶横摇的非线性模型，利用免疫反馈机理，设计了一种减摇鳍模糊免疫自适应PID控制器。控制器将模糊控制与PID控制相结合，采用Fuzzy推理，对非线性函数进行模糊逼近，用模糊免疫P调节器实时整定PID控制器的比例增益，采用常规模糊控制器在线调整免疫PID控制器的积分时间常数和微分时间常数。通过对船舶减摇鳍控制系统的仿真，可以看出采用模糊免疫自适应PID控制器其控制效果远优于常规PID控制器，使减摇鳍的减摇效果得到显著提高。

Design and simulation of fuzzy immune self-adaptation PID controller of fin stabilizer

This paper aims at the nonlinear module of ship roll motion, combines fuzzy control with PID control and uses immune feedback mechanism to design a fuzzy immune self-adaptation PID controller of fin stabilizer. Fuzzy reasoning is used to approach the nonlinear function faintly and fuzzy immune P adjuster is used to adjust proportion gain of PID real-time, and meanwhile, in order to obtain better control effect, general fuzzy controller is used to adjust integral and differential time constants of immune PID controller on line. Through simulation of the ship-fin stabilizer system, it can be seen that using fuzzy immune self-adaptation PID controller can obtain better control effect than general PID controller, and the stabilization effect of fin stabilizer increases obviously.