【作者】 唐旭东； 庞永杰； 李晔； 万磊；

【Author】 Tang Xudong,Pang Yongjie,Li Ye,Wan Lei Key lab of autonomous underwater vehicle,Harbin Engineering University,Harbin 150001,P.R.China

【机构】 哈尔滨工程大学水下机器人重点实验室；

【摘要】 从模糊逻辑控制方式出发,借鉴PID控制的结构而形成的S面控制。针对粒子群优化算法存在早熟、易陷入局部极小等现象,对基本PSO算法进行了改进。将PSO算法分解成粗调和微调两个优化阶段,更好地协调全局和局部搜索能力,有利于快速找到全局最优点。同时引入惩戒因子的概念,提高了PSO算法在水下机器人S面运动控制器参数整定中的优化能力。通过机器人运动控制的仿真实验,验证了该方法在水下机器人运动控制中应用的可行性和优越性。更多还原

【Abstract】 Based on the analysis of fuzzy control,combined with the form of PID control,the S Plane Control has been applied. For the default that particle swarm optimization(PSO) presents the phenomenon of precocity and getting in local minima,the basic PSO algorithm is improved.The basic PSO algorithm is divided into two optimizing phase:coarse adjustment phase and fine adjustment phase.This method could improve the coordination between global and local searching ability and apt to search out global optimum quickly.The concept of chasten factor is also introduced,the optimizing ability in PSO algorithm which applied in the S plane algorithm in parameter optimization.Finally,the improved PSO algorithm is applied to the S plane motion control of underwater vehicle.The feasibility and advantages of this method are demonstrated by simulation test results.更多还原