摘要
为了解决非线性无人艇动力学模型在航向控制时PID控制参数整定的问题,提出基于非线性模型和遗传算法寻优的无人艇航向PID控制算法。采用Abkowitz模型,对无人艇进行动力学建模,在遗传算法中设计自适应交叉算子、自适应变异算子及目标函数,并将其应用于参数整定。仿真实验显示,采用该方法后,无人艇操舵平稳,幅度较小,且舵角输出未发生振荡现象。该方法在无人艇航向控制上有一定的工程应用价值。
In order to solve the problem of PID control parameter setting during the course control of the nonlinear USV dynamic model,a PID control algorithm for unmanned boat heading based on genetic algorithm optimization under the nonlinear model is proposed.Firstly,the Abkowitz model is used to model the dynamics of the USV.Secondly the adaptive crossover operator,adaptive mutation operator and objective function are designed according to the characteristics of the heading control system in the genetic algorithm,and they are applied to the parameter tuning.Simulation experiments show that the USV using the above method has stable steering,small amplitude,and no rudder oscillation.Studies have shown that this method has certain engineering application value in the course control of USV.
作者
王亮
向金林
王鸿东
WANG Liang;XIANG Jinlin;WANG Hongdong(Naval Research Academy,Beijing 100073,China;State Key Laboratory of Ocean Engineering,Shanghai Jiao Tong University Shanghai 200240,China;Key Laboratory of Marine Intelligent Equipment and System Ministry of Education,Shanghai 200240,China)
出处
《中国造船》
EI
CSCD
北大核心
2020年第S01期21-30,共10页
Shipbuilding of China
作者简介
王亮,男,1980年生,博士,高工。研究方向:人工智能技术;向金林,男,1996年生,硕士研究生。研究方向:无人艇智能航行技术;王鸿东,男,1989年生,博士,讲师。研究方向:海洋装备动力学与智能控制、舰船泛可靠性工程。
