A fuzzy PID controller for ship course based on engineering tuning methods

On the basis of PID engineering tuning methods, a fuzzy PID control algorithm based on the fuzzy rules is put forward. To design this kind of algorithm, firstly, simplify PID formula according to the Z-N and critical proportion methods, and then, construct a piece of fuzzy control table according to fuzzy control rules and fuzzy control reasoning. In the paper, three-dimensional fuzzy control is used, which is more predominant than that with two-dimension. In real-time control, by looking up fuzzy control table, the PID parameter can be adjusted on line. The simulation results of controlling the angle of the helm and course of the ship show that the algorithm raised in this paper has good performances such as simple operation, excellent personality, etc