基于免疫遗传算法与变论域模糊PID的船舶航向控制研究  

Control Algorithm for Ship Course Based on Variable Universe Fuzzy-PID and Immune Genetic Algorithm

作　　者：谢佩军 

机构地区：[1]浙江纺织服装职业技术学院机电与轨道交通学院,浙江宁波315211?雪

出　　处：《工业控制计算机》2021年第6期78-80,共3页Industrial Control Computer

基　　金：2020年度高校国内访问工程师“校企合作项目”(FG2020158);2019年浙江省教育厅一般科研项目(Y201942413)。

摘　　要：针对船舶航向控制的非线性、大时滞等特点,提出一种融合免疫遗传算法与变论域模糊PID控制算法的船舶航向控制方案。建立变论域模糊控制器,通过引入论域伸缩因子提高自适应性,根据船舶航行状况实时调整PID控制参数。采用免疫遗传算法的抗体多样性、免疫记忆等特性改进算法寻优性能,进一步提高收敛效率、优化控制参数。最后,通过构建PID、FPID、VUFPID和IGA-VUFPID四种控制模型进行对比实验,结果表明IGA-VUFPID在自适应性、鲁棒性和控制精度等方面均优于其他模型,控制性能能够满足船舶航向控制的要求。In view of the characteristics of ship course control,such as nonlinearity,large time-lag,a control scheme combining immune genetic algorithm and variable universe fuzzy-PID is proposed in this paper.The variable universe fuzzy-PID controller is established,the adaptive ability is improved by introducing universe scaling factor,and PID control parameters are adjusted in real time according to the navigation condition.The performance of algorithm is improved by the characteristics of immune genetic algorithm,such as antibody diversity and immune memory,so as to further optimize convergence efficiency.Finally,PID,FPID,VUFPID and IGA-VUFPID are constructed to carry out comparative experiments,the results show that IGA-VUFPID is superior to other models in adaptability,robustness and control precision.

关 键 词：免疫遗传算法 变论域 模糊控制 船舶航向控制 PID控制 

分 类 号：U664.82[交通运输工程—船舶及航道工程] TP18[交通运输工程—船舶与海洋工程] TP273.4[自动化与计算机技术—控制理论与控制工程]