改进PID控制优化算法的航行轨迹研究

Research on navigation trajectory of improved pid control optimized algorithms

航行轨迹是一个时变性非常强的问题,当前航行轨迹控制优化算法存在控制误差大,无法对航行轨迹进行实时跟踪和控制,为了提高航行轨迹控制精度,改善航行轨迹跟踪和控制的实时性,设计了一种基于改进PID算法的航行轨迹控制优化方法。首先对航行轨迹控制原理进行分析,采用PID控制器对航行轨迹进行优化和控制,然后针对PID控制器的参数优化问题,引入蚁群算法进行参数在线调整,满足航行轨迹时变性特点,最后在Simulink环境下对航行轨迹控制进行仿真模拟实验。结果表明,本文方法的航行轨迹控制精度完全满足船舶实际工作要求,大幅度改善了航行轨迹的实时控制效果,是一种精度高、速度快的航行轨迹控制优化方法。

Navigation trajectory is a time-varying problem.At present,there are large control errors in the optimization algorithm of navigation trajectory control,which cannot track and control the navigation trajectory in real time.In order to improve the accuracy of navigation trajectory control and the real-time performance of navigation trajectory tracking and control,an optimization method of navigation trajectory control based on improved PID algorithm is designed.Firstly,the principle of trajectory control is analyzed,and the PID controller is used to optimize and control the trajectory.Then,aiming at the parameter optimization problem of the PID controller,the ant colony algorithm is introduced to adjust the parameters online to meet the time-varying characteristics of the trajectory.Finally,the simulation experiment of the trajectory control under Simulink environment is carried out.The results show that the trajectory of this method is optimized.Trajectory control accuracy fully meets the actual working requirements of ships and greatly improves the real-time control effect of the trajectory.It is a fast and accurate trajectory control optimization method.