基于PSO-PID的无人艇布放回收半主动式防摆系统控制研究  

Research on Control of Semi-active Anti-swing System for Unmanned Surface Vehicle Release and Recovery Based on PSO-PID

作　　者：李云龙 王生海[1] 赵明慧 翁晶 邓晨旭 韩广冬 LI Yunlong;WANG Shenghai;ZHAO Minghui;WENG Jing;DENG Chenxu;HAN Guangdong(Marine Engineering College,Dalian Maritime University,Dalian Liaoning 116026,China;Southern Marine Science and Engineering Guangdong Laboratory(Zhuhai),Zhuhai Guangdong 519080,China)

机构地区：[1]大连海事大学轮机工程学院,辽宁大连116026 [2]南方海洋科学与工程广东省实验室(珠海),广东珠海519080

出　　处：《机床与液压》2025年第6期49-56,共8页Machine Tool & Hydraulics

基　　金：国家自然科学基金青年科学基金项目(52101396);国家重点研发计划项目(2022YFB4300802)。

摘　　要：针对高海况下无人艇布放回收作业中,无人艇负载摆动幅度过大的问题,设计一种布置于船用吊机上的半主动式磁流变防摆装置,建立防摆系统动力学模型,同时将粒子群优化算法(PSO)和PID控制器相结合,实现了PID参数的自动最优选定。通过Simulink-Adams联合仿真,结果表明:在设定的3种工作场景下,采用PSO-PID控制器的防摆系统的平均摆动抑制率相比无防摆措施提升80%以上,其能耗相比1.2 A恒定电流至少降低40%,可适应于不同的工作场景,面对突发的复杂激励具有良好的动态性能和能耗控制,证明了防摆系统及其控制策略的有效性。Aiming at the problem that the load swing amplitude of unmanned surface vehicle is too large in the operation of unmanned surface vehicle release and recovery under high sea conditions,a semi-active magnetorheological anti-swing device arranged on the marine crane was designed,and the dynamics model of the anti-swing system was established.At the same time,particle swarm optimization algorithm(PSO)and PID controller were combined to realize the automatic optimal PID parameters selection.Through Simulink-Adams co-simulation,the results show that in the three preset working scenarios,the average swing rejection rate of the anti-swing system with PSO-PID controller is more than 80%higher than that without anti-swing measures,and the energy consumption is reduced by at least 40%compared with the 1.2 A constant current.It can be adapted to different working scenarios and has good dynamic performance and energy consumption control in the face of sudden complex excitation.The simulation results prove the effectiveness of the anti-swing device and its control strategy.

关 键 词：无人艇布放回收 防摆装置 磁流变阻尼器 粒子群优化算法 水动力仿真 

分 类 号：TG502.32[金属学及工艺—金属切削加工及机床] U664.4[交通运输工程—船舶及航道工程]