Abstract: Trawlers tend to be subjected to wind and wave movements, which in turn affects fishing efficiency and safety. In order to eliminate the influence of the heave motion of trawlers, an automatic adjustment device of hydraulic cylinder heave compensator based on Fuzzy PID controller is designed in this paper. Firstly, the principle of active hydraulic cylinder heave compensation scheme is analyzed. Taking the valve controlled asymmetric cylinder position control system as the research object, the mathematical model is established, the fuzzy PID controller is designed. The fuzzy PID and classical PID simulation models are built in Matlab/Simulink, and the heave compensation performance of the system is simulated in different sea conditions. The results show that under the fuzzy PID control, the overshoot of the system is reduced by 0.06 m and the adjustment time is shortened by 0.11 s compared with the classical PID control, and the system has low position tracking error and good anti-interference ability. The heave compensator can better adapt to different sea conditions under Fuzzy PID control. This study will provide a reference for the study of heave compensation of trawlers.

Key words: trawler, heave compensation, electro hydraulic servo, fuzzy PID, marine fishing

摘要： 拖网渔船在作业中往往会受到风浪起伏产生升沉运动，进而影响捕捞效率与安全。为消除渔船升沉运动带来的影响，设计了一种基于模糊PID控制器的液压缸式升沉补偿器自动调节装置。首先分析主动液压缸式升沉补偿方案原理，以阀控非对称缸位置控制系统为研究对象，建立了数学模型，设计了模糊PID控制器，在Matlab/Simulink中搭建了模糊PID与经典PID仿真模型，最后在不同海况对系统进行升沉补偿性能仿真。结果显示：系统在模糊PID控制下较经典PID控制超调量降低了0.06 m，调节时间缩短了0.11 s，并具有较低的位置跟踪误差与较好的抗干扰能力。升沉补偿器在模糊PID控制下可以较好地适应不同海况环境。本研究将为拖网渔船升沉补偿研究提供参考。

关键词: 拖网渔船, 升沉补偿, 电液伺服, 模糊PID, 海洋捕捞