Heading Control of the Air Cushion Vehicle Based on Fuzzy PID

The air cushion vehicle is affected by aerodynamic force, hydrodynamic force, flexible structure of apron and the interaction of the three factors, which appears highly nonlinear and time-delayed, so it is quite different from the motion characteristics of conventional ships. Due to the existence of these factors, the air cushion vehicle will be disturbed to yaw when sailing, or the ship's heading and speed direction are inconsistent. When the air cushion vehicle travels, the force changes all the time, and the load of the propulsion motor changes in real time. Therefore, when the traditional PID control is used, there will be a problem that the speed overshoot is too large, and the output power frequency cannot meet the requirements. Traditional PID control has poor anti-interference ability, poor tracking performance and large overshoot. Therefore, in this paper, a kind of fuzzy PID controller is designed. Based on the air cushion vehicle's motion model equations, heading control can be simulated using Matlab's Fuzzy toolbox. In the simulation in Matlab, the Fuzzy engine and the PID controller are combined, and the controller part adopts the incremental PID for simulation. The simulation results show that the designed Fuzzy PID controller has better control effect, and step response without static error, short transition time, better stability.