基于非线性PID的调距桨控制系统仿真研究

船舶调距桨控制系统中采用一般PID控制器往往难以达到最佳控制效果。针对调距桨控制系统过程模型的特点，设计了相应的非线性PID控制器，该非线性PID控制器各增益参数与偏差信号之间呈现非线性关系，调节控制器的各参数可根据对相应参数的非线性函数进行调整来实现，并采用遗传算法来优化此控制器各部分参数。仿真结果表明，该控制器能根据实际情况快速地调整和完善PID参数，具有响应速度快，稳态精度高等优点，控制效果优于传统的PID控制器。

Simulation of Marine Controllable Pitch Propeller Control Based on Nonlinear PID

The performance of general PID controller used in CPP system is usually hard to be the best. In this paper, a corresponding nonlinear PID controller is designed by using the characteristic of CPP control system.. The relationship between the error signal and gain parameters of PID controller is nonlinear. Adjusting the parameters of respective nonlinear function can tune each part of the P/I/D indirectly, and the genetic algorithm should be adopted, to optimize them. Simulation result shows that the nonlinear controller can adjust and optimize PID parameters according to the real time application. It has short response time, high accuracy and performs better than traditional PID controller.