摘要
针对欠驱动水面船舶(underactuated surface vessel,USV)航向保持稳定性问题,对船舶自动舵控制系统设计了分数阶PIλDμ控制器。积分阶次λ和微分阶次μ的引入使得分数阶比例-积分-微分(proportion integration differentiation,PID)PIλDμ控制器具有更好的鲁棒性和抗扰动能力,但同时也加大了算法设计的难度。使用改进粒子群算法对分数阶PIλDμ控制器参数进行整定,即解决了粒子群算法容易使粒子陷入局部最优问题,又解决了分数阶PIλDμ控制器整定参数多、设计复杂问题。通过仿真对比实验,结果表明,该控制器能很好地根据船舶动态特性变化,自动进行适应性参数优化,具有跟踪速度快、航向控制超调小以及抗扰性强等优点。
To improve the course stability of underactuated surface vessel （USV）,a fractional-order PIλD μ（proportion integration differentiation,PID）controller is applied to ship autopilot,which is more flexible,robust and has stronger disturbance rejection ability with the integral-orderλ and differential-orderμ.However, difficulties for optimization also increase.A new method of designing PIλD μ controller based on the improved particle swarm optimization （IPSO）algorithm is proposed,which solves the problems of the particles falling into local optimum and the design complexity in fractional-order PIλD μ controller design.The fractional-order PIλD μ controller based on IPSO is compared with the traditional PSO-PID controller under the same conditions. The simulation results show that,the controller can optimize the adaptive parameters well and automatically, and has a high tracking speed,small overshoot and strong immunity.
出处
《系统工程与电子技术》
EI
CSCD
北大核心
2014年第6期1146-1151,共6页
Systems Engineering and Electronics
基金
国家自然科学基金(60474014,60774046,61074053,61374114)资助课题
作者简介
李光宇（1979-），男，讲师，博士研究生，主要研究方向为分数阶控制系统、滑模控制、神经网络、粒子群算法。E—mail：ligyu@163．com
郭晨（1956-），男，教授，博士，主要研究方向为船舶自动控制系统、智能控制理论与应用、虚拟现实技术及应用等领域。E-mail：guoc@dlmu．edu．cn
李延新（1979-），女，讲师，硕士，主要研究方向为智能控制。E-mail：lyx7977@163．com
