专家控制-改进S面算法在近水面航行器运动控制中的应用研究  

Application of expert control-improved S-plane algorithm in motion control of near-surface vehicle

作　　者：李超 师子锋 张承科 艾艳辉 佘湖清 LI Chao;SHI Zifeng;ZHANG Chengke;AI Yanhui;SHE Huqing(Yichang Testing Technique Research Institute,Yichang 443003,China)

机构地区：[1]宜昌测试技术研究所,湖北宜昌443003

出　　处：《中国舰船研究》2024年第2期81-89,共9页Chinese Journal of Ship Research

基　　金：国家部委基金资助项目。

摘　　要：[目的]旨在提高舵板响应速度和效率,以满足近水面航行器在静水及波浪干扰下的深度保持和姿态控制要求。[方法]在S面算法的基础上,提出一种具有更快收敛速度的改进S面控制算法,并与专家智能控制相结合,建立闭环专家控制-改进S面算法的混合控制模型,构建混合算法控制器。对比分析PID算法、S面算法、改进S面算法以及专家控制-改进S面算法在近水面航行器航行深度、姿态控制间的差异,并进行波浪干扰下的运动预报。[结果]预报结果表明:改进S面算法在静水航行控制中可提高收敛速度,波浪干扰下可降低纵摇幅度;专家控制-改进S面算法能够提高舵的控制效率,在静水中快速实现航行状态稳定转换,在波浪中有效降低近水面航行器垂荡和纵摇幅值30%以上。[结论]所提专家控制-改进S面算法对近水面航行器运动稳定性的提高适用性良好。[Objective]This study aims to improve the response speed and efficiency of rudders,and meet the depth-keeping and attitude control requirements of near-surface vehicles under static water and wave disturbances.[Methods]An improved S-plane control algorithm with faster convergence speed is proposed on the basis of the S-plane algorithm.It is then combined with expert intelligent control to establish a hybrid model and controller of a closed-loop expert control-improved S-plane algorithm.The differences between the PID algorithm,S-plane algorithm,improved S-plane algorithm and expert control-improved S-plane algorithm in the navigational depth and attitude control of near-surface navigators are compared and analyzed,and motion prediction under wave disturbance is completed.[Results]The improved S-plane algorithm can improve the convergence speed in still water and reduce the pitch amplitude under wave disturbance,while the expert control-improved S-plane algorithm can improve the rudder control efficiency.In still water,the navigator state can be quickly and stably transitioned,and in waves,the heave and pitch amplitudes of the near-surface navigator are effectively reduced by more than 30%.[Conclusion]The expert control-improved S-surface algorithm proposed herein has good applicability for the improvement of near-surface vehicle motion stability.

关 键 词：改进S面算法 专家控制 近水面航行器 波浪干扰 运动稳定性 

分 类 号：U664.82[交通运输工程—船舶及航道工程]