基于IDCS能量优化的船舶舵/翼舵航向保持控制

摘要

船舶舵/翼舵能够有效提高翼面的升力系数,减小系统能耗,但操控面的增多会带来角度分配问题.根据航向控制机理,通过航向检测装置检测到的航向角,计算出系统的艏摇扶正力矩,并建立舵/翼舵角度优化分配规则,在系统驱动能量损耗指标下,提出了一种改进的动态布谷鸟搜索(IDCS)算法,提高了系统寻优过程的全局探测及局部搜索能力,实现舵角/翼舵角度的智能优化分配.仿真结果表明:舵/翼舵能够避免了单体舵出现的舵速饱和现象,提高了航向控制效果并有效降低系统能耗;同时相较于遗传算法(GA)和布谷鸟搜索(CS)算法,基于IDCS算法的舵角/翼舵角分配策略也能够取得更小的能耗指标,从而证明了所提出的算法有效性和工程应用价值.%Ship with main/flap rudder which is effective to improve the lift coefficient,also can reduce energy loss of system,but increase of the control surface will bring angle optimization allocation problem. According to the course control mechanism,the main/flap rudder angle optimization allocation rules is established,and an improved dynamic cuckoo search(IDCS)algorithm is proposed to improve the global detect and local search ability,in order to achieve the main/flap rudder angles optimal allocation. The simulation result shows that compare to the common rudder,the main/flap rudder can effectively avoid speed saturation and improve course control effect and reduce system energy loss;also compared to GA and CS algorithm,the main/flap rudder allocation strategy based on IDCS algorithm can achieve smaller energy loss indicators,the effectiveness and practical engineering value of the proposed algorithm is proved.