SWATH船纵向运动的分数阶PI^(λ)D^(μ)控制  

Fractional-Order PI^(λ)D^(μ)control of SWATH ship longitudinal motion

作　　者：白春江[1] 王庆武[1] 赵健[1] BAI Chun-jiang;WANG Qing-wu;ZHAO Jian(Navigation College,Dalian Maritime University,Dalian 116026,China)

机构地区：[1]大连海事大学航海学院,辽宁大连116026

出　　处：《舰船科学技术》2021年第3期58-62,共5页Ship Science and Technology

基　　金：辽宁省自然科学基金资助项目(20180550362);大连市科技创新基金资助项目(2017RQ065);中央高校基本科研业务费(3132019133,3132019350)。

摘　　要：针对小水线面双体船(SWATH)的纵向运动稳定性问题,对某SWATH船设计了一种分数阶PI^(λ)D^(μ)控制器。首先,在控制器设计过程中,引入ITAE准则获得分数阶PID控制器的优化参数,并以类似方式得到优化参数的最优PID控制器。然后,以SWATH船为研究对象,分别采用分数阶PI^(λ)D^(μ)控制器和最优PID控制器对其等效Nomoto模型和考虑风浪干扰后的模型进行仿真研究。最后,对它们的控制性能及控制能量消耗进行比对分析。通过分析发现,本文所提出的分数阶PI^(λ)D^(μ)控制器的控制效果明显优于最优PID控制器,且分数阶PI^(λ)D^(μ)控制器更为节能。Aiming at the stability problem of the control of the longitudinal motion of small waterplane area twin hull ship(SWATH),a Fractional-Order Proportional Integral Derivative(FOPID)controller is designed for a SWATH ship.Firstly,the integrated product of time and absolute error standard(ITAE)is adopted to optimize the parameters of FOPID controller in the design process of the controller,and the optimal PID controller parameters are obtained by a similar optimization method.Then,taking the SWATH ship as the research object,the equivalent Nomoto model and the model considering wind and wave interferences are simulated,using FOPID controller and optimal PID controller respectively.Finally,their control performance and control energy consumption are compared and analyzed.It is found that the control performance of the FOPID controller proposed in this paper is obviously better than that of the optimal PID controller,and the FOPID controller has the characteristics of more energy saving.

关 键 词：SWATH船 纵向运动 分数阶PI^(λ)D^(μ)控制 

分 类 号：U674[交通运输工程—船舶及航道工程]