基于人工蜂群算法的船舶动力定位自抗扰控制器设计

针对船舶动力定位自抗扰控制器(ADRC)参数较多且人工不易调整的问题,通过建立以船舶纵荡、横荡和艏向角三个方向ADRC响应的时间误差积分和最小的目标函数,采用人工蜂群算法(ABC)中采蜜蜂和跟随蜂的选择机制与邻域搜索,优化整定出船舶动力定位ADRC控制器参数。ABC优化的方法避免了工程技术人员繁琐的试凑工作。此外,仿真结果表明,相比试凑法得出的参数而言,经过ABC优化整定的参数具有更快的响应速度,对船模参数变化具有更强的鲁棒性和适应性。

Design of Active Disturbance Rejection Controller forMarine Dynamic Positioning System Based on

When auto-disturbance-rejection controller (ADRC) is applied in ship dynamic positioning system (DPS) control, the ADRC parameters are difficult to determine while trial and error method is used. The objective function is chosen as weighted ITAE indexes of ship surge, sway and yaw directions. Artificial bee colony (ABC) algorithm is employed to optimize the parameters of ADRC. The parameters are obtained via selection mechanism and neighborhood search method of ABC. Thus, the proposed method makes researchers time saving. In addition, it is demonstrated from simulations that proposed method has faster response speed and more robustness compared with trial and error method.