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進度報告 6

進度報告 6. 指導教授：曾慶耀 老師 李信德 老師 學生：陳柏均 日期： 2013.2.1. Study on a new and effective fuzzy PID ship autopilot. PID 5. PID 4. PID 3. PID 2. PID 1. IMC ( β =6). C PID = Kp + Ki/s + Kds/( γ s+1) 其中 1/( γ s+1) 用來濾除高頻雜訊 Kp = (8 β /3 + T ) / 3 β 2 k = 0.664532

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進度報告 6

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  1. 進度報告6 指導教授：曾慶耀 老師 李信德 老師 學生：陳柏均 日期：2013.2.1

  2. Study on a new and effective fuzzy PID ship autopilot

  3. PID 5 PID 4 PID 3 PID 2 PID 1

  4. IMC(β=6) CPID=Kp+Ki/s + Kds/(γs+1) 其中1/(γs+1)用來濾除高頻雜訊 Kp = (8β/3 + T) / 3β2k = 0.664532 Ki = 1/ 3β2k = 0.03257 Kd = (8βT/3 - 8β29) /3β2k = 1.252264 γ = β / 3 = 2

  5. 雙輸入三輸出 0<Kp<2 0<Ki<0.08 0<Kd<3

  6. FPID平均偏移量 = 2.0694 m IMC(β=6)平均偏移量 =3.1412m

  7. Kp Ki Kd

  8. 模糊控制及其MATLAB仿真 • 當|e|較大時，為加快響應速度，取較大的Kp，這樣可使系統的時間常數和阻尼係數減小。當然不得過大，否則會導致系統不穩定；為避免有超越量，選擇較小的Kd，以便加快響應；可去掉積分。 • 當|e|處於中等大小時，選較小Kp，使超越量略小，Kd的取值對系統較關鍵，取值要恰當；可適當增加一些Ki，但不得過大。 • 當|e|較小時，為使系統有良好的穩態性能，取較大的Kp和Ki；為避免系統在平衡點出現振盪，Kd的取值應恰當。

  9. 平均偏移量 = 2.026 m

  10. Kp Ki Kd

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