船舶六自由度转台电液伺服系统参数整定方法

针对船舶六自由度转台电液伺服系统的参数整定问题，提出一种基于多目标遗传算法和多属性决策的PID参数设计方法，综合考虑了系统超调量、稳定时间和ITAE指标，采用多目标遗传算法求出Pareto最优解。使用客观赋权的信息熵法对最优解的属性进行权值计算，然后采用逼近理想解的排序方法（TOP—SIS）进行多属性决策（MADM）研究。计算了转台电液伺服控制的数值算例，结果表明本文提出的联合方法通用性好，所设计的PID性能优异，适合工程实际应用。

On the PID Parameters Tuning in the Electric-hydraulic Servo System

A new tuning hybrid method was present for PID parameters based on multi-objective optimization technique. Firstly, a non-dominated sorting genetic algorithm Ⅱ was employed to approximate the set of Pareto solution through an evolutionary optimization process. Then a multi-attribute decision making （MADM） approach was adopted to rank these solutions from best to worst and to determine the best solution in a deterministic environment with a single decision maker. A PID design example for 6-DOF simulator electric-hydraulic servo system was given to illustrate the analy- sis process in present study. The ranking of Pareto solution is based on entropy weight and TOPSIS method.