【摘要】 借鉴免疫系统的免疫响应调节机制,对传统PID控制器进行改进,建立一种非线性自适应免疫PID控制器,并利用粒子群算法对设计的PID控制器进行参数优化.将设计的控制器用于船舶航向控制系统中,实验仿真结果表明:该控制器能很好的根据船舶动态特性的变化,自动地进行适应性免疫调节,具有跟踪速度快、航向控制超调小以及抗扰性强等优点.更多还原

【Abstract】 Immune response adjusting mechanism of immune system was used for reference to improve the classical PID controller,and a kind of nonlinear self-adaptive PID controller was built up. And the parameters of controller were optimized by the particle swarm arithmetic. Controller designed was used in the ship’s course control system. The simulation results show that this controller can do immune adjusting automatically according to the change of the ship dynamic performance and have excellences such as fast track speed,small overshoot and strong immunity.更多还原