基于粒子群算法的欠驱动船舶航向控制研究
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摘要
欠驱动船舶是指只能通过螺旋桨推进器和船舵进行水平面3个自由度运动的船舶,通常,当船舶某些执行器结构出现故障时,船舶此时具有欠驱动特征。欠驱动船舶的航行控制系统是一个典型的非线性系统,研究欠驱动船舶的运动控制不仅可以提高船舶的自动化水平,还对保障船舶的航行安全有重要意义。本文首先介绍了一种粒子群优化算法,并对该优化算法的原理和流程进行研究,然后基于粒子群优化算法对欠驱动船舶的运动控制进行研究,开发了一种基于粒子群算法的欠驱动船舶运动控制器,并进行仿真试验。
Underactuated ships refer to ships that can only move horizontally with three degrees of freedom through propeller propeller and rudder. Usually, when some actuator structures fail, the ship has underactuated characteristics at this time. The navigation control system of under-actuated ship is a typical non-linear system. Studying the motion control of under-actuated ship can not only improve the automation level of ship, but also have important significance for ensuring the safety of ship navigation. In this paper, a particle swarm optimization(PSO) algorithm is introduced, and the principle and flow of the optimization algorithm are studied. Then the motion control of under-actuated ships is studied based on PSO. A motion controller of under-actuated ships based on PSO is developed and simulated.
Underactuated ships refer to ships that can only move horizontally with three degrees of freedom through propeller propeller and rudder. Usually, when some actuator structures fail, the ship has underactuated characteristics at this time. The navigation control system of under-actuated ship is a typical non-linear system. Studying the motion control of under-actuated ship can not only improve the automation level of ship, but also have important significance for ensuring the safety of ship navigation. In this paper, a particle swarm optimization(PSO) algorithm is introduced, and the principle and flow of the optimization algorithm are studied. Then the motion control of under-actuated ships is studied based on PSO. A motion controller of under-actuated ships based on PSO is developed and simulated.
引文
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[2]沈智鹏,代昌盛.欠驱动船舶路径跟踪的强化学习迭代滑模控制[J].哈尔滨工程大学学报, 2017(5).
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[2]沈智鹏,代昌盛.欠驱动船舶路径跟踪的强化学习迭代滑模控制[J].哈尔滨工程大学学报, 2017(5).
[3]方淡玉,黄橙,王新辉.基于船舶六自由度运动的船舶航行安全实时监控系统研究[J].数字技术与应用, 2013(6).
[4]李宇栋,黄志坚,王升堂,等.船舶航向自适应控制的改进ADHDP方法[J].湖北民族学院学报(自然科学版), 2018,36(2):60–65.
[5]乐志峰.船舶六自由度操纵-摇荡耦合运动的数学建模与分析[J].舰船科学技术, 2017(20):14–16.