减摇航向保持舵的多目标协同优化控制

Multi-objective collaborative optimization control of course-keeping autopilot with rudder roll damping

为使航向保持自动舵在简捷PD控制的基础上具备舵减摇功能,首先建立简捷PD航向保持和舵减摇控制器,以航向保持精度、舵减摇率和舵机能耗3个目标函数,利用NSGA-Ⅱ实现控制系统参数的协同优化。以非线性船舶运动模型为控制对象进行仿真试验,结果显示Pareto优化解集能充分反映多目标函数之间的制约性,与经验参数方案相比,在增加舵机能耗的前提下能够实现更高的舵减摇率和更好的航向保持精度。

In order to develop a simple PD controlled autopilot system with rudder roll damping,the course-keeping controller and rudder roll damping controller are optimized based on NSGA-Ⅱ with the minimum course error,roll angle and rudder consumption.Finally,simulation tests are done on non-linear ship model.The results indicate that the Pareto optimal set can represent the conditionality among the objectives.And the optimum solution achieve better course-keeping accuracy and roll reduction rate than empirical scheme at the cost of higher energy consumption.