基于改进麻雀优化PID的波浪补偿控制方法  

An Improved Sparrow Search Algorithm Optimized Control Strategy for Active Wave Compensation

作　　者：张琴[1] 蔡慧茹 兰明东 浦克 胡雄[1] ZHANG Qin;CAI Huiru;LAN Mingdong;PU Ke;HU Xiong(School of Logistics Eng.,Shanghai Maritime Univ.,Shanghai 201306,China)

机构地区：[1]上海海事大学物流工程学院,上海201306

出　　处：《工程科学与技术》2024年第1期22-34,共13页Advanced Engineering Sciences

基　　金：国家自然科学基金项目(NSFC52105466)。

摘　　要：随着海上风电“十四五”规划的不断推动,在深远海域对兆瓦级大功率海上风机的需求量随之增加,其规模也在不断扩大。但是,在吊运、安装等海上工作过程中,复杂海浪对船舶产生的持续影响导致风机安装的精度和效率大幅下降,甚至会对人员安全以及财产造成重大损失。在深远海域复杂海况下对工程船舶进行有效的波浪补偿,可提供稳定的作业环境以保证精准高效地完成各项工作,因此,本文提出了一种基于改进麻雀优化PID的波浪补偿控制方法并将其应用于Stewart补偿平台。首先,建立波浪补偿平台动力学以及运动学反解模型,并设计正解模型迭代求解算法。随后,使用PID进行波浪补偿控制,并通过麻雀搜索算法优化参数。接着,采用Circle混沌映射对其进行初始化分布,以解决初始化不均匀的问题;并采用动态自适应加权、柯西突变以及反向学习以提升算法全局寻优能力。最后,生成4~6级海况下的某工程船运动数据作为系统输入,利用MATLAB和Simulink软件平台搭建模型进行补偿控制验证,并在Stewart硬件平台上做补偿试验。结果表明,改进麻雀搜索算法具有较快的收敛速度、较高的精度和更好的寻优能力,优化后的PID控制方法更适合用于复杂海况下波浪补偿平台的控制优化,可为大功率海上风机安装的补偿平台控制系统设计提供参考。With the continuous promotion of the 14th Five-Year Plan for offshore wind power,the demand for megawatt-level high-power offshore fans in deep far sea areas has increased.However,in the process of offshore work such as lifting and installing the fans,the continuous fluctuation impacts of complex waves on the ship lead to a significant decline in the accuracy and efficiency,and even cause significant losses to personnel safety and property.Effective wave compensation for engineering ships in the complex sea conditions can provide a stable working environment to ensure accurate and efficient tasks.Therefore,a wave compensation control strategy based on the improved sparrow search PID algorithm was proposed in this paper and applied to the Stewart compensation platform.Firstly,based on Stewart compensation platform,the kinetic and inverse kinematics models of the wave compensation system were established,and an iterative solution algorithm of the positive solution model was designed.Then,the PID(Proportion Integration Differentiation)was used for wave compensation control since it is mature and easy for hardware implement.To get the suitable three parameters of PID for superior performances,the sparrow search algorithm was used to optimize the parameters.Whereafter,the Circle Chaotic Mapping method was used to initialize the values distribution to solve the problem of uneven initialization.The Cauchy Mutation and Reverse Learning methods were used to improve the global optimization ability of the algorithm.Finally,the motion of an engineering ship in class 4-6 sea state was input to the system,and the model was built with MATLAB/Simulink and carried out on the Stewart hardware platform to verify the effects of the compensation control method.In view of the above research,this paper mainly contains the following aspects:(1)Building the simulation model of the wave compensation system.The SimMechanics tool in Simulink was used to establish a dynamic modle according to the mechanical structure and transmission mode of

关 键 词：波浪补偿平台 3自由度补偿 比例积分微分控制器 改进麻雀搜索算法 

分 类 号：P751[交通运输工程—港口、海岸及近海工程]