基于遗传算法和PID 控制的无人艇减摇控制研究  

Research on Unmanned Craft Stabilization Control Based on Genetic Algorithm and PID Control

作　　者：杨加力[1] 马赛男 王丽业 Yang Jiali;Ma Sainan;Wang Liye(Zhejiang International Maritime College,Zhoushan 316021,China;Zhejiang Jialan Ocean Electronics Co.,Ltd.,Zhoushan 316021,China)

机构地区：[1]浙江国际海运职业技术学院,浙江舟山316021 [2]浙江嘉蓝海洋电子有限公司,浙江舟山316021

出　　处：《浙江国际海运职业技术学院学报》2022年第1期1-5,共5页Journal of Zhejiang International Maritime College

基　　金：浙江省教育厅一般科研项目"船用废气锅炉自动吹灰装置"(项目编号:Y201942707);浙江省2020年度高校国内访问工程师校企合作项目"小型船舶联合减摇装置关键技术研究(项目编号:FG2020306)。

摘　　要：针对小型无人艇减摇控制难的问题,在艇身增加减摇鳍和减摇螺旋桨,建立减摇鳍和减摇螺旋桨控制模型,结合遗传算法和PID控制两种算法,实现对减摇鳍和减摇螺旋桨参数精确控制。从船舶在低速和高速两种情况下进行减摇仿真分析,研究减摇鳍和减摇螺旋桨的减摇效果。仿真结果表明,船舶在减摇鳍和减摇螺旋桨联合控制下,能达到较好的减摇效果,能够满足船舶设备平台等减摇要求。To solve the problem of anti-rolling control of small unmanned craft,fin stabilizer and anti-rolling propeller are added to the hull and the control model of fin stabilizer and anti-rolling propeller is established.The accurate control of fin stabilizer and anti-rolling propeller parameters are achieved by combining genetic algorithm and PID control algorithm.Anti-rolling simulation analysis from the craft at low speed and high speed is carried out to study the anti-rolling effect of fin stabilizer and anti-rolling propeller.The simulation results show that under the joint control of fin stabilizer and anti-rolling propeller,the craft can achieve good anti-rolling effect and meet the anti-rolling requirements of craft equipment platform.

关 键 词：无人艇 减摇鳍 减摇螺旋桨 遗传算法 PID控制算法 

分 类 号：U664.7[交通运输工程—船舶及航道工程]