基于IEM的动力定位PID控制器参数整定

摘要

Due to the ship dynamic positioning control system is a complex nonlinear system,the conventional PID parameters are difficult to achieve the desired control effect,and the immune electromagnetism-like mechanism(IEM) algorithm is proposed for HD controller parameter self-tuning.In view of the weakness that the electromagnetism-like mechanism(EM) algorithm is easy to fall into the local optimum,the immune information processing mechanism is introduced,and the unique concentration selection mechanism is used to preserve the fine and the particles are close to the optimal position by the immune operator.The pedormance analysis shows that the IEM algorithm has better stability and better convergence in the self-tuning of PID parameters compared to EM and PSO algorithm.Finally,the position and bow of DP four stage sea condition model are simulated.The simulation results show that compared with the conventional PID controller,the PID controller solved by IEM method has faster response,better stability and smaller steady-state error.%由于船舶动力定位控制系统是一个复杂的非线性系统,常规整定的PID参数难以取得理想的控制效果,由此提出将免疫类电磁机制(IEM)算法用于PID控制器的参数自整定.针对类电磁机制(EM)算法易陷入局部最优的缺陷,引入免疫信息处理机制,利用其特有的浓度选择机制保留优良的粒子并通过免疫算子使粒子靠近最优位置.使用IEM、EM和PSO算法整定PID控制器参数,分析结果可以得出IEM算法具有更优的稳定性、更高的收敛精度.最后在IEM-PID和常规PID控制器作用下分别对船舶DP的位置和艏向进行仿真,仿真结果表明,相比常规PID控制器,IEM-PID控制器响应速度更快、稳定性更优、稳态误差更小.