基于极点配置的智能体PID运动控制器参数优化

Parameter Optimization of Agent PID Motion Controller Based on Pole Assignment

针对智能体的运动控制问题,以水面船舶减摇问题为例,采用易于工程实现的经典PID控制器,提出了一种以时间乘横摇和艏摇的绝对误差累积和为性能指标的单纯形优化算法来解决控制器参数优化正定问题,该方法在理论推导出控制器参数的结果后再以实际系统输出做为优化的依据进行参数整定,最终实现对横摇和艏摇的最优控制,很大程度上提高了控制器的实用性;同时由于横摇和和艏摇的频带特性之间的差异,通过引入高通滤波器更好地解决了舵减横摇对航向影响的问题,仿真结果表明单纯形算法优化的控制器参数提高了控制效果,加入高通滤波器降低了舵减摇对航向的影响。

Aimed at the problem of motion control of intelligent agent,the surface ship anti rolling was taken as an example with using the classical PID controller,which is easy to implement in engineering. A kind of accumulation and the performance indexes of the absolute error in time by the roll and yaw of the simplex optimization algorithm were proposed to solve the controller parameters optimization positive problem. According to the actual system output,the controller parameters were deried for the optimization of the basis. The optimal roll and yaw control was ultimately achieved,and the practicability of the proposed controller was gratly improved. At the same time,due to the difference between the frequency characteristics of the roll and yaw,the high pass filter has better solved the rudder roll stabilization of course impact problem. The simulation results illustrated that the controller parameters of the simplex algorithm optimization of the control effect increased with the high pass filter and reduced the impact on the course of the rudder roll stabilization.