粒子群算法优化PID的USV航向稳定性控制

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英文篇名：Particle swarm optimization for pid usv heading stability control 作者：郭晓科 英文作者：GUO Xiao-ke;Changsha Aeronautical Vocational and Technical College, Aviation Mechanical and Electrical Equipment Maintenance Institute; 关键词：粒子群算法 ; USV航向 ; 稳定性控制 ; 种群多样性 ; 控制精度 英文关键词：particle swarm optimization;;USV heading;;stability control;;population diversity;;control accuracy 中文刊名：JCKX 英文刊名：Ship Science and Technology 机构：长沙航空职业技术学院航空机电设备维修学院; 出版日期：2019-02-23 出版单位：舰船科学技术 年：2019 期：v.41 语种：中文; 页：JCKX201904019 页数：3 CN：04 ISSN：11-1885/U 分类号：56-58

摘要

航向稳定性直接影响水面无人艇(USV)的安全航行,针对当前USV航向稳定性控制存在的控制误差大、抗干扰能力弱等缺陷,设计了粒子群算法优化PID的USV航向稳定性控制方法。首先将PID控制方法引入到USV航向稳定性控制中,然后采用粒子群算法对PID控制参数进行动态优化,以适应USV航向稳定性控制误差的变化,提高USV航向稳定性控制的鲁棒性,最后与其他USV航向稳定性控制方法进行对比测试,本文方法的USV航向稳定性控制精度高达90%以上,而且在受到外界干扰时,可以快速保证USV航向稳定,提高了USV航向稳定性控制的抗干扰能力,本文方法的USV航向稳定性控制效果要优于经典USV航向稳定性控制方法,验证了本文方法的优越性。
        Heading stability directly affects the safe navigation of surface unmanned vehicle(USV). Aiming at the defects of current USV heading stability control, such as large control error and weak anti-jamming ability, a particle swarm optimization PID USV heading stability control method is designed. Firstly, the PID control method is introduced into the course stability control of USV. Then, the parameters of the PID control are dynamically optimized by using particle swarm optimization algorithm to adapt to the change of the course stability control error of USV and improve the robustness of the course stability control of USV. Finally, the method is compared with other USV course stability control methods. The accuracy of the USV course stability control method in this paper is as high as 90%. On the other hand, when disturbed by the outside world, the USV course stability can be guaranteed quickly, and the anti-jamming ability of USV course stability control can be improved. The control effect of USV course stability in this method is better than that of the classical USV course stability control method, which verifies the superiority of this method.

引文

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