삼타어뢰의 퍼지제어를 위한 실시간 시뮬레이션

A fuzzy controller is designed 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 microprocesors of the guidance and control unit, the simplified fuzzy inference method based on nonfuzzy-processor is proposed to implement fuzzy controllers of three fin torpedo. This method provides a flexible rule-base design to guarantee the robust control. The good potential of the proposed design is shown through real-time simulations using both a mathematical model on AD-100 computer and an implemented controller on Intel80C 186/80C 187 microprocessors employing 12bit A/D converter.