论文部分内容阅读
为了改善船舶航向控制的效果,文章首次运用了分数阶PID控制方法,并提出一种新的主从交互式萤火虫优化算法,以优化控制器参数,使得达到控制性能指标最优的目标;根据船舶动力学模型,以船舶实际参数作实验,实验结果表明经过FA优化的分数阶PID控制器,比PSO算法具有更好的控制性能;通过敏感性分析验证了算法求出的FOPID参数具有鲁棒性,当系统参数大幅度变化时不需要重新设置;证明了经萤火虫算法优化的分数阶PID控制器能够更好地满足船舶航向控制的需求。
In order to improve the effect of the ship heading control, the paper first applies the fractional PID control method and proposes a new master-slave interactive firefly optimization algorithm to optimize the controller parameters so as to achieve the goal of optimal control performance; The experimental results show that the FA-optimized fractional PID controller has better control performance than the PSO algorithm. The sensitivity analysis shows that the FOPID parameter obtained by the algorithm is robust , Which do not need to be reset when the system parameters change greatly. It is proved that the fractional PID controller optimized by firefly algorithm can better meet the requirements of ship heading control.