基于BAS的模糊PID解耦算法在船舶动力定位中的应用

BAS-based fuzzy PID decoupling algorithm in ship dynamic positioning

模糊PID应用于船舶动力定位控制时,因无法保证量化比例因子选取到最优值可能限制控制性能。基于某动力定位船舶的三自由度运动模型,利用串联补偿解耦算法消除船舶横荡与首摇控制量的相互影响,选取纵荡与横荡的时间乘绝对误差积分(Integrals of Time-weighted Absolute Error,ITAE)之和为目标函数,尝试利用天牛须搜索算法(Beetle Antennae Search algorithm,BAS)对模糊PID中的量化比例因子进行优化。利用Matlab/Simulink,采用PID、模糊PID、基于BAS的模糊PID等3种控制策略,对定点定位工况下动力定位船舶在无干扰和瞬时干扰条件运动响应进行仿真。研究发现,相比于PID和模糊PID,基于BAS的模糊PID在纵荡和横荡运动控制上可显著提高控制精度并减少超调量,进而可改善动力定位系统性能。

The dynamic positioning performance adopting fuzzy PID is limited for a ship as it is hard to select the optimal quantitative scaling factors.This study tries to optimize the quantization scaling factor in fuzzy PID by use of the BAS(Beetle Antennae Search algorithm) employing the three-degree of freedom model of a dynamic positioning ship.The sum of ITAE(Integral of Time-weighted Absolute Error) of sway and yaw motions is taken as the objective function,and series compensation decoupling algorithm is used to eliminate the interaction of the corresponding control quantities.Simulations are performed via Matlab/Simulink to analyze the dynamic response of the ship under fixed point positioning conditions adopting PID,fuzzy PID,and BAS-based fuzzy PID.Compared with PID and fuzzy PID,it has found that BAS-based fuzzy PID can significantly improve the control accuracy and reduce the overshoots remarkably in surge and sway motions,which may benefit for improving the performance of dynamic positioning systems.