基于细菌觅食算法的船舶舵减横摇PID控制器设计

Design of Ship Rudder Reduction Roll PID Controller Based on Bacterial Foraging Algorithm

为解决传统舵减横摇PID控制器在外界环境变化时,控制参数不能实时调节,导致减摇效率降低的问题,将细菌觅食算法(BFO)与传统的PID控制结合,设计基于细菌觅食算法的船舶舵减横摇PID控制器(BFO-PID控制器),将船舶的实际船体参数引入到船舶横摇运动控制系统中,通过仿真实验对比船舶在加入BFO-PID控制器前后船舶横摇角的变化,分析改进后的控制器对该型船舶舵减横摇的适用性,实验表明,运用改进后的舵减摇控制器,船舶在不同遭遇角下均具有较好的舵减摇效率,证明控制器改进的有效性,细菌觅食算法提高了舵减摇控制器的鲁棒性。

In order to better improve the rudder rolling performance of the ship,the bacterial foraging algorithm(BFO)was combined with the classic PID control to design a ship rudder reduction roll PID controller.The actual hull parameters of a ship were introduced into the ship roll motion control system.The ship's rudder reduction roll PID controller based on BFO was analyzed by comparing the roll angle changes of the ship before and after adding the BFO-PID controller.The test results showed that the ship with the rudder reduction roll PID controller based on BFO has better rudder reduction efficiency under different navigation conditions,proving that the BFO can improve the robustness and ship stability of the rudder anti-rolling PID controller.