【摘要】 文中针对某型自主式水下航行器,设计其深度控制函数。为使其控制效果达到全局最优,需要对函数中的参数进行寻优。将遗传算法应用于参数寻优是一种寻求全局最优并且和初始状态无关的优化方法。文中详细介绍了程序的原理和设计流程,并给出不同航速下的最优参数,仿真结果证明了该方法的可行性和有效性。更多还原

【Abstract】 This paper mainly introduces how to design a depth controller for a type of autonomous underwater vehicle(AUV).To make the result be global optimization,some method must be used in finding optimum parameters.Geneticalgorithms is one of available methods,and it can be running and searching without the initial data.This paper gives adetailed account of the principle and flow of genetic algorithms.The result is best parameters at different speed.Andthe result of simulation shows that the method is feasible and effective.更多还原