灰色预测GA - PID全垫升气垫船航向控制

摘要

Air Cushion Vehicle is a kind of ships with high performance including high speed and amphibian. However, with its nonlinear characteristic, it is difficult to manipulate. Adaptive GA - PID based on Gray Error Pre-diction was used in this paper. On one hand, PID parameters can be optimized at every sampling time with Generic Algorithm. On the other hand, Gray theory can predict errors exactly, and the prediction PID control can play a role in advance control. With the method, Air Cushion Vehicles get more adaptive, and we can obtain good control effect in various environments.%全垫升气垫船是一种高性能船舶,具有良好的快速性和两栖性,有很广泛的应用领域.但由于系统本身的非线性特性,很难获得很好的操纵性.为了控制提高动态特性和获得精确控制规律,提出采用灰色预测的GA - PID方法,利用遗传算法在每个采样时间对PID参数进行在线优化整定,同时利用灰色误差预测可以准确预测误差的实时变化趋势,以误差预测值进行PID控制可以起到一种超前控制的作用.在这两种控制共同作用下进行仿真.结果表明,气垫船航向控制有很强的自适应性,并在各种环境下都能得到很好的控制效果,证明结果有效.