Fuzzy controls of towed objects

摘要

A fuzzy logic controller for controlling towed objects includes comprises a winch controller to control extension or retraction of a tow cable based on a control signal. A fuzzy logic controller controls a speed at which the tow cable is extended or retracted. The fuzzy logic controller includes an altitude controller storing a membership function defining ranges for a delta altitude variable and determines an altitude control signal based on the range for the measured delta altitude variable. A gain controller stores respective membership functions defining ranges for speed, heading rate, and cable length variables and determines a gain control signal based on the ranges for the determined speed, heading rate, and cable length variables. A command controller determines the control signal based on the gain control signal and the altitude control signal.

主权项

1. A controller for controlling objects towed by a vessel, comprising:
a winch controller to control extension or retraction of a tow cable based on a control signal; a fuzzy logic controller coupled to the winch controller to control a speed at which the tow cable is extended or retracted, the fuzzy logic controller including:
an altitude controller storing a membership function defining ranges for a delta altitude variable and to determine an altitude control signal based on the range for the measured delta altitude variable;a gain controller storing respective membership functions defining ranges for speed, rate of turn of the vessel, and cable length variables and to determine a gain control signal based on the ranges for the determined speed, rate of turn of the vessel, and cable length variables; anda command controller to determine the control signal based on the gain control signal and the altitude control signal.