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为解决欠驱动自主式水下航行器的定深控制问题,建立欠驱动自主式水下航行器的数学模型,选用经典的PID控制器对其进行控制。为使控制器的各项性能指标良好,控制器的参数整定选用粒子群优化算法。粒子群算法在迭代过程中容易出现粒子早熟现象,为了避免这一现象,本文引入指数函数,对粒子群迭代公式的惯性权重进行动态调整,延长了粒子的大范围搜索时间。在Matlab 2019b环境下进行仿真,通过纵向对比,证明了改进算法的可行性,将改进后的算法与ZN整定算法进行对比,结果表明,改进粒子群算法表现更佳。 相似文献
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水下无人航行器是探索未知水域的重要设备,但是传统水下无人航行器的智能航行控制系统,受到水域信号传播限制,造成智能控制范围较小,为此设计无人水下航行器的智能航行控制系统。使用水域深度变换器对智能控制器进行重新设计,根据水域深度变化进行不同方式的控制切换,优化PID控制器,改变水域信号传输方式,根据需求进行多传输方式的切换;使用粒子群算法对智能控制方式进行规划,对不同水域控制方式进行最优选择,实现航行智能控制系统设计。试验结果表明,设计的控制系统能在水下2 000 m内进行有效控制,比传统控制系统多出800 m的有效范围,因此本文设计系统具备极高的有效性。 相似文献
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现有的水下航行器动力系统装配模型在虚拟现实平台中经常出现多数据间的协同异常,模型内多单元数据计算误差偏大的问题。针对问题的出现,提出虚拟现实平台中水下航行器动力系统装配模型优化设计。首先,引入多粒子群分析算法对航行器水下动力系统装配数据进行则优化模型建立,通过模型找出装配相关量的优化参数;接着,针对动力单元、控制单元与供电单元,分别引入磁转动力算法、约束控制算法与协同供电算法对对应单元进行优化,在装配相关单元数据修正中,实现最终模型数据误差的消除;最后,通过专业的动力分析系统,对优化后的模型数据进行仿真测试,证明提出的优化方法具有可行性与有效性。 相似文献
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水下航行器电动力系统的装配质量优化问题是一个包含多变量和多约束的多目标优化问题,为了提高水下航行器动力系统装配质量,提出一种基于粒子群进化寻优的装配质量量化评估及优化方法。分析水下航行器动力系统的结构组成,并对电磁力、功率损耗和效率等相关参数解算。以水下航行器电动力系统的材料成本、装配效率、功率损耗、性能以及体积/重量等参量为约束指标,采用支持向量机模型进行动力系统装配质量指标参数自适应量化特征分解,构建装配质量优化的控制目标函数,采用粒子群进化寻优方法进行目标函数的最优解求解,提高了整个水下航行器动力系统装配质量评估和全局稳定性。仿真结果表明,采用该方法进行水下航行器动力系统装配质量量化评估的准确性较高,全局收敛性较好,实现状态过程质量优化预测,改善了系统装配质量。 相似文献
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自主水下航行器内部通信采用的传统信号传输算法,在日常航行器内部通信信号传输过程中,经常出现传输延迟过高的问题,因此针对问题提出自主水下航行器内部通信传输信号延时消除方法研究。通过对延迟问题产生原因进行分析,找到信号传输能量耗尽参数;根据参数与信号数据节点传输量间的关系,建立延迟节点消除关系函数;最后由关系函数引入粒子群延迟消除算法,实现延迟节点消除。通过仿真实验对提出方法进行测试,证明提出方法在延迟消除方面的有效性与稳定性。 相似文献
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针对大功率船舶柴油发电机工况的复杂性、时变性以及非线性等特性,以及船舶运行负载的变化对发电机励磁系统的影响,借鉴粒子群优化算法能够很好地适应复杂系统参数的寻优的特性以及模糊控制对参数优化的精确性,使用粒子群优化算法对控制器的PID参数进行优化,再使用模糊PID算法以误差和误差变化率作为输入,PID参数的增量作为输出对粒子群优化算法优化出来的PID参数进行修正,构成船舶发电机模糊-粒子群优化(FPSO)励磁控制系统控制器。在Matlab/Simuink环境下进行了额定负载、增加50%额定负载和三相故障等工况的仿真实验。实验表明,端电压经过短暂的波动后能够快速的回归稳定,证明该方法能够很好地适应工况的改变。 相似文献
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水下潜器改进S面控制及控制系统仿真(英文) 总被引:1,自引:0,他引:1
S surface controllers have been proven to provide effective motion control for an autonomous underwater vehicle (AUV). However,
it is difficult to adjust their control parameters manually. Choosing the optimum parameters for the controller of a particular
AUV is a significant challenge. To automate the process, a modified particle swarm optimization (MPSO) algorithm was proposed.
It was based on immune theory, and used a nonlinear regression strategy for inertia weight to optimize AUV control parameters.
A semi-physical simulation system for the AUV was developed as a platform to verify the proposed control method, and its structure
was considered. The simulation results indicated that the semi-physical simulation platform was helpful, the optimization
algorithm has good local and global searching abilities, and the method can be reliably used for an AUV. 相似文献
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一种基于PSO优化HWFCM的快速水下图像分割算法 总被引:3,自引:0,他引:3
The S/N of an underwater image is low and has a fuzzy edge.If using traditional methods to process it directly,the result is not satisfying.Though the traditional fuzzy C-means algorithm can sometimes divide the image into object and background,its time-consuming computation is often an obstacle.The mission of the vision system of an autonomous underwater vehicle (AUV) is to rapidly and exactly deal with the information about the object in a complex environment for the AUV to use the obtained result to execute the next task.So,by using the statistical characteristics of the gray image histogram,a fast and effective fuzzy C-means underwater image segmentation algorithm was presented.With the weighted histogram modifying the fuzzy membership,the above algorithm can not only cut down on a large amount of data processing and storage during the computation process compared with the traditional algorithm,so as to speed up the efficiency of the segmentation,but also improve the quality of underwater image segmentation.Finally,particle swarm optimization (PSO) described by the sine function was introduced to the algorithm mentioned above.It made up for the shortcomings that the FCM algorithm can not get the global optimal solution.Thus,on the one hand,it considers the global impact and achieves the local optimal solution,and on the other hand,further greatly increases the computing speed.Experimental results indicate that the novel algorithm can reach a better segmentation quality and the processing time of each image is reduced.They enhance efficiency and satisfy the requirements of a highly effective,real-time AUV. 相似文献
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针对水下潜器纵向姿态角控制的稳定性问题,对水下潜器的姿态角控制系统设计一种分数阶 PID 控制器。在控制器设计过程中,引入时间误差绝对值(ITAE)准则,ITAE 准则的引入可快速获得分数阶 PID 的优化参数,设计优化分数阶 PID 控制器。最后,以水下潜器的传递函数为仿真对象,分别采用分数阶 PID 控制器和常规PID 控制器进行仿真研究。通过控制性能比较发现,本文所提出的分数阶 PID 控制器的控制效果明显优于常规 PID控制器,且分数阶 PID 控制器具有更强的鲁棒性。 相似文献
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Mohammad Pourmahmood Aghababa Mohammad Hossein Amrollahi Mehdi Borjkhani Electrical 《船舶与海洋工程学报》2012,11(3):378-386
In this paper,an underwater vehicle was modeled with six dimensional nonlinear equations of motion,controlled by DC motors in all degrees of freedom.Near-optimal trajectories in an energetic environment for underwater vehicles were computed using a numerical solution of a nonlinear optimal control problem(NOCP).An energy performance index as a cost function,which should be minimized,was defined.The resulting problem was a two-point boundary value problem(TPBVP).A genetic algorithm(GA),particle swarm optimization(PSO),and ant colony optimization(ACO) algorithms were applied to solve the resulting TPBVP.Applying an Euler-Lagrange equation to the NOCP,a conjugate gradient penalty method was also adopted to solve the TPBVP.The problem of energetic environments,involving some energy sources,was discussed.Some near-optimal paths were found using a GA,PSO,and ACO algorithms.Finally,the problem of collision avoidance in an energetic environment was also taken into account. 相似文献