OceanInfo平台中舰船操纵运动控制研究

针对 OceanInfo平台中的舰船运动控制，研究舰船在航向保持中的混沌运动及其控制问题。基于 PID控制方法的简单性和有效性，应用 PID控制进行平台中的舰船混沌运动的有效控制和航向保持，对其控制参数难以确定的问题，提出改进的动态混沌粒子群优化（PSO）算法进行控制器参数整定并进行仿真实验。实验结果表明：本文提出的改进优化算法能够实现 PID参数的优化整定，其结果能够更为有效地进行舰船航向保持及混沌运动控制，且方法简单、容易编程实现。

Research on ship steering control in OceanInfo platform

Against the ship steering control in OceanInfo platform, the chaotic motion and its control in the process of ship course keeping are discussed. The PID control method is used to control the chaotic ship steering and course keeping based on its simplicity and validity, but the control parameters are difficult to be tuned, so an improved dynamic chaos particle swarm optimization algorithm for the PID controller parameters tuning is proposed and the simulation experiments are carried. The results show that, the PID controller parameters tuned by the proposed optimization algorithm can realize ship course keeping and chaotic motion control more effectively, and the proposed algorithm is easy to program.