模糊自整定PID航向控制算法优化及其性能评判  

Optimization of fuzzy-tuning PID heading control algorithm and its performance evaluation

作　　者：梅强[1] 李丽娜[1] 陈国权[1,2] 蒋娇[1] 马峰[1] 

机构地区：[1]集美大学航海学院,福建厦门361021 [2]大连海事大学航海学院,辽宁大连116026

出　　处：《合肥工业大学学报（自然科学版）》2015年第8期1055-1059,共5页Journal of Hefei University of Technology：Natural Science

基　　金：国家自然科学基金资助项目(60774066);福建省自然科学基金资助项目(2012D031)

摘　　要：针对PID航向控制算法初始值选择的合理性对控制器性能所起的重要作用,文章通过建立PID航向控制算法的Kp、Ki和Kd初始值计算模型,实现对模糊自整定PID航向控制算法的优化;基于智能化SIHC仿真研究平台,全面测试了优化的航向控制算法性能,并利用改进的航向跟踪及保持性能评判算法定量评判了航向控制算法的性能。测试结果表明,优化后的模糊自整定PID航向控制算法具备自动根据环境条件和船舶操纵特性确定PID初始值的能力,算法的实用性及适应性得到提升。Considering the important role of initial parameters in PID heading control algorithm, the fuzzy-tuning PID heading control algorithm is optimized by establishing initial calculation model of Kp, Ki and Ka of PID heading control algorithm. The performance testing and analysis of optimized algorithms were carried out based on intelligent SIHC simulation and research platform by using the optimized course tracking performance evaluation algorithm to assess the performance of course control algorithm quantitatively. The results show that the optimized fuzzy-tuning PID heading control algorithm is able to determine PID initial parameters automatically based on environment condition and manoeuvring performance, and the practicability and adaptability of the algorithm are improved.

关 键 词：模糊自整定PID航向控制 SIHC仿真研究平台 性能评判 算法优化 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]