基于PSO优化的潜艇深度非线性PID控制

PSO Based Nonlinear Function PID Controller for Submarine Depth Control Systems

根据潜艇操纵控制过程非线性、慢时变的特点,在潜艇深度垂直面运动方程的基础上设计了一种基于粒子群算法的潜艇深度非线性PID控制器,针对非线性PID控制设计参数较多的问题,将参数设计问题转化为一种优化设计问题,借助粒子群优化算法,以某型潜艇深度控制系统为研究对象,对系统中的非线性PID控制参数进行了优化。仿真结果表明,该控制器不仅能较好地实现深度保持,相对于传统PID控制具有更好的稳态精度,对舵机的损耗也比传统PID控制小。

The submarine maneuvering problem with characteristics of nonlinearity, and slow time varying is discussed. A nonlinear function PID controller for keeping submarine depth based on submarine vertical motion equation is proposed. Aiming at the problem of more parameters in nonlinear PID, the parameter design problem is transformed to the parameter optimization problem. The controller parameter of nonlinear PID in a submarine depth control system is optimized by using the PSO algorithm. The simulation results show that the nonlinear function PID controller can keep submarine depth, and the adaptiveness is better than the conventional PID controller. Also the wastage to rudderpost is less than PID controller.