Robust Fuzzy Control of a Three Fin Torpedo

概要

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A fuzzy control is combined to an auto-pilot system for compensating the cross-coupling effect of induced roll due to the dynamic characteristics of three fin torpedo. Since the utilization of fuzzy-coprocessor has many interfacing problems with typical microprocessors of the guidance and control unit, the simplified fuzzy inference method based on nonfuzzy-processors is proposed to implement a fuzzy controller. This method can provide both a flexible rule-based control design and a practical implementation to guarantee the robust performance of a three fin torpedo auto-pilot system. The potential of the proposed algorithm is shown through real-time simulations using both a mathematical model on AD-100 computer and an implemented controller on Intel 80C186 microprocessor employing 12 bit A/D converter. The robustness is also tested under the random disturbances which have an analogy to the exciting roll moment in the real sea.
社団法人日本船舶海洋工学会の論文