Design And Application Of Daptive PID In Ship Course Leading Autopilot

Ship in the sea line, as soon as possible in order to reach the destination, always be wanted at a certain speed to make linear motion. Ship in the sea unavoidably influenced by outside environment and itself factors, which requires the controller should be had adaptive ability and robustness, can the parameters are automatically adjusted, in order to save manpower, material resources.The ship course leading autopilot based on single neuron PID is studying. Based on the PID controller has the advantages of simple structure, good robustness connect with single neuron’s adaptive, self-organizing, self-learning characteristics, design a ship course control system which has adaptive, simple structure, strong robustness.First, the basic principle of neurons and the mathematical model of ship are gave. The traditional PID controller is designed firstly, which will be applied to ship course control, then plus the course-keeping performance index, and on the basis of the design of linear two optimal controller, the course keeping accuracy and fuel consumption of compromise, not only can keep the course and can be slightly movable rudder optimal controller.Secondly, in order to achieve purpose of adaptive, base on the PID control, connect with single neuron to make the improvement to the algorithm, which improved single neuron adaptive PID controller.Finally, simulation model of single neurons was described by S function, the design of controller for simulation in Simulink. Finally the various interferences are added in the controller, and different controlled objects are gave, test its adaptive ability and robustness. The results show that the designed controller has good robustness and adaptive ability, simulation result is good.