基于主从交互式萤火虫群优化算法的船舶航向分数阶PID控制

A Principal and Subordinate Cooperative Firefly Algorithm for Optimizing Fractional-order PID Controller in Tracking Control of Ship Steering

摘要:

为了改善船舶航向控制的效果,文章首次运用了分数阶PID控制方法,并提出一种新的主从交互式萤火虫优化算法,以优化控制器参数,使得达到控制性能指标最优的目标；根据船舶动力学模型,以船舶实际参数作实验,实验结果表明经过FA优化的分数阶PID控制器,比PSO算法具有更好的控制性能；通过敏感性分析验证了算法求出的FOPID参数具有鲁棒性,当系统参数大幅度变化时不需要重新设置；证明了经萤火虫算法优化的分数阶PID控制器能够更好地满足船舶航向控制的需求。 

Abstract:

To improve the effect of course control, the Fractional-order Proportional-Integral-Derivative (FOPID) has been introduced to tracking control of ship steering for the first time in this paper, and a principal and subordinate cooperative Firefly Algorithm (FA) has been proposed for optimizing the controller gains and obtaining best performance index. Based of the dynamics mode and practical ship parameters, the results of experiment shows that the FOPID controller optimized by firefly algorithm has better control ability than PSO algorithm. Sensitivity analysis has been carried out to see the robustness of the optimum FOPID gains obtained at nominal, which need not be reset for wide changes in system parameters. It is proved that the FOPID optimized by firefly algorithm can provide better control performance in tracking control of ship steering.