【摘要】 设计了船舶航向保持GA-PID自适应控制系统,通过系统辨识得到船舶航向运动的数学模型,在该模型的基础上采用遗传算法优化PID参数,将优化所得参数赋予实际的航向保持系统。在系统运行过程中,不断检测航向角偏差的标准差值,若该值超出设定范围,则重新辨识模型,优化参数。对系统进行仿真,仿真结果表明,与单纯形法优化的PID控制系统相比,该系统对海情的变化具有良好的自适应能力。该系统简单可行,具有工程应用价值。更多还原

【Abstract】 The ship course-keeping GA-PID adaptive control system was designed. The ship dynamic model was acquired by system identification. The parameters of PID controller were optimized by genetic algorithm, and then these parameters were given to the actual course-keeping system. When the system ran, the standard deviation of yaw-angle error was calculated. If the value of standard deviation overstepped the enacted bound, the dynamic model should be identified, and the PID parameters should be optimized again. The result of system simulation showed that, compared with the PID control system optimized by simplex method, this system had good adaptive ability for the variety of ocean condition. This system is simple and feasible, and it has the engineering application value.更多还原