Abstract: Focused on the difficulty in maintaining a constant value of the warp tension in trawl fishing, fuzzy-control and PID control system is designed and set up to achieve constant tension. Based on the driving principle of the trawl winch, the transfer function of the warp constant tension control system is established, then fuzzy PID controller is constructed to adjust the warp tension by controlling the speed of trawl winches. The structure of the hardware and software is described and the result is simulated by Matlab. The simulation result shows that warp tension will reach a constant value in 0.8s by using fuzzy PID control system and will return to the previous stable state in 0.7s after receiving the interference, which is better than the traditional PID control and fuzzy control. Research shows that the Fuzzy PID control system has the characteristics of fast response, small overshoot, and strong robustness and so on and maintains the warp tension constant effectively for constant tension control system of fishing boats trawling winch, which will improve the fishing efficiency and has a great significance in guiding practice.

Key words: trawl winch, warp, constant tension, fuzzy PID control

摘要： 针对拖网捕捞作业中较难保持曳纲张力恒值的问题，设计并搭建了基于模糊PID控制的渔船拖网绞机恒张力控制系统。在对渔船拖网绞机传动原理研究的基础上，建立恒张力控制系统的传递函数，构建模糊PID控制器，通过控制拖网绞机转速而调节曳纲张力。介绍了系统硬、软件的构成，并利用MATLAB进行仿真验证。仿真结果表明，模糊PID控制能在0.8 s内实现曳纲张力恒值，并能在收到干扰后0.7 s内恢复到之前的稳定状态，性能优于传统PID控制和模糊控制。研究表明，基于模糊PID控制的渔船拖网绞机恒张力控制系统具有系统响应快、超调量小、鲁棒性强等特点，能够有效地保持曳纲张力恒值，提高捕捞效率，具有较强实践指导意义。

关键词: 拖网绞机, 曳纲, 恒张力, 模糊PID控制