| 克隆选择辨识的船舶航向自适应PD控制 |
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| 引用本文： | 胡江强,庞为兴,章文俊,赵庆涛.克隆选择辨识的船舶航向自适应PD控制[J].大连海事大学学报(自然科学版),2009,35(1). |
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| 作者姓名： | 胡江强 庞为兴 章文俊 赵庆涛 |
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| 作者单位： | 胡江强,章文俊,赵庆涛,HU Jiang-qiang,ZHANG Wen-jun,ZHAO Qing-tao(大连海事大学航海学院,辽宁,大连,116026);庞为兴,PANG Wei-xing(浙江省信息产业厅,杭州,310003)
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| 摘 要： | 为解决船舶营运中存在的模型参数摄动和外界干扰的不确定性问题,提出一种船舶航向自适应PD控制算法.采用免疫克隆选择算法进行在线船舶模型辨识,将存在不确定干扰和模型摄动的船舶作为一个"黑箱",将短时间内的船舶状态在线辨识为二阶线性模型,根据系统预定性能要求动态调整PD控制参数,使船舶获得理想输出.对抗体初始种群采用最优模型保留和随机初始化相结合的策略,提高了不确定性问题的在线优化效率.对一个三阶非线性货船的仿真试验表明,该算法有效提高了PD控制器的稳态性能.
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| 关 键 词： | 船舶航向 自适应控制 进化算法 克隆选择 模型辨识 |
Adaptive PD control for ship steering via clonal selection identification |
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| HU Jiang-qiang,PANG Wei-xing,ZHANG Wen-jun,ZHAO Qing-tao.Adaptive PD control for ship steering via clonal selection identification[J].Journal of Dalian Maritime University,2009,35(1). |
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| Authors: | HU Jiang-qiang PANG Wei-xing ZHANG Wen-jun ZHAO Qing-tao |
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| Institution: | HU Jiang-qiang1,PANG Wei-xing2,ZHANG Wen-jun1,ZHAO Qing-tao1(1.College of Navigation,Dalian Maritime University,Dalian 116026,China,2.The Information Industry Department of Zhejiang Province,Hangzhou 310003,China) |
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| Abstract: | An adaptive PD control algorithm was developed to deal with the problems of model parameter perturbation and external disturbance uncertainty in ship steering.Immune clonal selection algorithm was used in on-line ship model identification.The actual ship with disturbance and model uncertainty,regarded as a black box,was identified as a second-order linear model,then PD controller was dynamically tuned according to given system performance together with the identified model,and the ideal output of the ship w... |
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| Keywords: | ship's course adaptive control evolutionary algorithm clonal selection model identification |
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