应用人工蜂群算法辨识潜器参数

Identification on hydrodynamic coefficients of underwater vehicle with the ABC algorithm

针对确定水下潜器参数试验和理论计算困难的问题,提出基于基本人工蜂群算法及改进人工蜂群方法辨识潜器系数的方法.基于潜器模型,通过改进蜜蜂的搜索模式、引入禁忌表等方法解决蜂群算法早熟的问题,然后选取典型操舵机动分别对原始和改进的蜂群算法进行实验仿真.通过对比参数辨识前后的仿真图,表明应用人工蜂群算法辨识潜器参数是可行的;通过对比蜂群算法改进前后的仿真图,表明改进方法的有效性.

Aiming at the difficulty of traditional hydrodynamic coefficients experiments and theoretical calculation method, an initial and improved artificial bee colony ( ABC) algorithm was proposed to identify the hydrodynamic coefficients of an automatic underwater vehicle ( AUV) . Based on the simplified AUV model, the problem of ABC premature was solved by mending bee search model and introducing the tabu table. Then typical maneuverability ex-periments were chosen to simulate the initial and identified ABC algorithms, respectively. By comparing the simula-tion figures before and after parameter identification, it shows that applying ABC to identify the coefficients of AUV is feasible. By comparing the simulation figures of the initial and improved ABC algorithms, the validity of the im-provement was proved.