船舶橫向穩定之自調模糊控制器

Abstract

本論文研究之主要目的在設計一自調式模糊控制器使模糊控制器具 備自調的功能,並以此控制器針對船舶的橫向穩度做一有效的控制。同時 將此結果與使用傳統之模糊控制器加以比較。模擬結果顯示在選取適當的 調整參數下, 自調模糊控制器比傳統控制器具有較佳的控制特性。其優點 包括,收歛速度的改善,較小的穩態誤差,以及滿意的強健性。最後,亦將所 發展的自調模糊控制器應用到直流伺服馬達的轉速控制系統做進一步的探 討。 The essential idea of the thesis is to design a self-tuning fuzzy controller(STFC) for ship roll stabilization. The results of the self-tuning fuzzy contr-oller and conventional fuzzy controller are also provided for comparison. For the sake of speeding up the convergence of the process output and achieving asmall steady-state error, a self-tuning controller placed in front of the conventional fuzzy controller. The simulation results show that, by choosing proper tuning factors, the self-tuning fuzzy controller has better performacethan the conventional fuzzy controller. The advatages of using the STFC includeshortor convergencetime, smaller steady-state error, and satifactory robustness. Finally, the STFC is also applied to motor speed controller system for moreinvestigation.