CAJ | 학술논문

根据潜艇操纵控制过程非线性、慢时变的特点,在潜艇深度垂直面运动方程的基础上设计了一种基于粒子群算法的潜艇深度非线性PID控制器,针对非线性PID控制设计参数较多的问题,将参数设计问题转化为一种优化设计问题,借助粒子群优化算法,以某型潜艇深度控制系统为研究对象,对系统中的非线性PID控制参数进行了优化.仿真结果表明,该控制器不仅能较好地实现深度保持,相对于传统PID控制具有更好的稳态精度,对舵机的损耗也比传统PID控制小.
근거잠정조종공제과정비선성、만시변적특점,재잠정심도수직면운동방정적기출상설계료일충기우입자군산법적잠정심도비선성PID공제기,침대비선성PID공제설계삼수교다적문제,장삼수설계문제전화위일충우화설계문제,차조입자군우화산법,이모형잠정심도공제계통위연구대상,대계통중적비선성PID공제삼수진행료우화.방진결과표명,해공제기불부능교호지실현심도보지,상대우전통PID공제구유경호적은태정도,대타궤적손모야비전통PID공제소.
The submarine maneuvering problem with characteristics of nonlinearity,and slow time varying is discussed. A nonlinear function PID controller for keeping submarine depth based on submarine vertical motion equation is proposed. Aiming at the problem of more parameters in nonlinear PID, the parameter design problem is transformed to the parameter optimization problem. The controller parameter of nonlinear PID in a submarine depth control system is optimized by using the PSO algorithm. The simulation results show that the nonlinear function PID controller can keep submarine depth, and the adaptiveness is better than the conventional PID controller. Also the wastage to rudderpost is less than PID controller.