摘要
借鉴生物系统免疫调节机理,将一种模糊免疫PID控制器应用于改造船舶PID型航向自动舵。针对船舶航行过程中存在长时间扰动特点,在对现有的模糊免疫PID控制系统进行研究的基础上,给出适用于船舶航行的控制系统形式,并利用改进粒子群算法对系统控制器进行参数优化。仿真结果表明,通过对普通PID型自动舵进行简单的改造,就能形成具有跟随船舶动态特性变化自动进行适应性调节的新型船舶自动舵,且跟踪速度、航向超调以及抗扰性指标都较传统自动舵有显著提升。
Fuzzy immune PID controller is used for rebuilding PID ship autopilot based on immune adjusting mechanism of biology system.Based on existing fuzzy immune PID control system,a kind of control form that is fit for ship navigate included long time and fixed value disturbs is disused,and control system parameters are optimized by particle swarm optimization.Research results show that a kind of new intelligence ship autopilot can be designed by improving simply common PID autopilot,which has adaptive adjusting ability under changing of ship dynamic trait,quick track speed,small shipping overflow and strong anti-jamming.
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2006年第z1期570-572,583,共4页
Chinese Journal of Scientific Instrument
关键词
免疫PID
粒子群优化
自动舵
immune PID particle swarm optimization autopilot
