%0 Journal Article
%T 船舶航向积分补偿PID控制及参数自适应算法
%A 刘勇
%A 卜仁祥
%A 徐海军
%A 白军
%J 大连海事大学学报
%D 2016
%X 从滑模变结构控制角度分析传统PID控制特性，并对传统PID控制进行结构优化.针对非线性船舶航向控制系统，引入积分控制，提出积分补偿PID控制及参数自适应算法，利用MATLAB对船舶航向控制系统进行仿真.结果表明，系统超调明显减小，消除了外界干扰下的静差，有效解决了传统PID控制的超调问题以及参数调整问题；同时，验证了本文设计的控制算法具有较强鲁棒性，参数自适应控制器优势明显.</br>The characteristics of conventional proportion-integral-derivative (PID) control system were analyzed from the view of sliding mode variable structure control (VSC), and the structure of conventional PID control was optimized. According to the nonlinear ship course control system, the integration control was introduced, and the integral compensation PID and parameter adaptive algorithm were proposed. Simulation on ship course control system was carried out by using MATLAB. Results show that the system overshoot decreases obviously, and the steady-state error resulted from outside chattering was eliminated, and the problems of overshoot and parameters adjustment resulted from conventional PID control were circumvented in the proposed algorithm. In addition, it verifies the excellent robustness of the proposed algorithm, and obvious advantage of parameter adaptive controller.
%K 中央高校基本科研业务费专项资金资助项目（3132015019
%K 3132016006).
%U http://xb.dlmu.edu.cn/CN/abstract/abstract372.shtml