基于粒子群优化的船舶PID自动舵的改进

Improvement of ship PID autopilot based on particle swarm optimization

受生物免疫反馈过程的启发,利用模糊逻辑的适应性,提出一种模糊免疫PID控制策略,并以此对传统的PID型航向自动舵进行改进.用一种模糊控制器来模拟免疫系统中的反馈机理,以航行的经济性为目标,采用线性递减权值策略的全局PSO算法,对控制器进行参数优化.并对比2种采用免疫PID控制器的系统组成方案,指明适用于船舶航向控制的控制系统形式.实验仿真结果表明:该控制器能很好地根据船舶动态特性的变化,自动地进行适应性免疫调节,具有跟踪速度快、航向控制超调小以及抗扰性强等优点.

Enlightened by biology immune feedback process and by using the adaptation of fuzzy logical discursion a kind of fuzzy immune PID(proportional integral derivative) control decision is presented,which is then used to rebuild the traditional PID shipping autopilot.A fuzzy logical controller is used to simulate feedback mechanism of immune system.Taking economic ship course as optimization objective,controller parameters are optimized by global particle swarm optimization based on decreasing inertia weigh stra...