CAJ | 학술논문

针对欠驱动水面船舶（underactuated surface vessel，USV）航向保持稳定性问题，对船舶自动舵控制系统设计了分数阶 PIλDμ控制器。积分阶次λ和微分阶次μ的引入使得分数阶比例积分微分（proportion inte-gration differentiation，PID）PIλDμ控制器具有更好的鲁棒性和抗扰动能力，但同时也加大了算法设计的难度。使用改进粒子群算法对分数阶 PIλDμ控制器参数进行整定，即解决了粒子群算法容易使粒子陷入局部最优问题，又解决了分数阶 PIλDμ控制器整定参数多、设计复杂问题。通过仿真对比实验，结果表明，该控制器能很好地根据船舶动态特性变化，自动进行适应性参数优化，具有跟踪速度快、航向控制超调小以及抗扰性强等优点。
침대흠구동수면선박（underactuated surface vessel，USV）항향보지은정성문제，대선박자동타공제계통설계료분수계 PIλDμ공제기。적분계차λ화미분계차μ적인입사득분수계비례적분미분（proportion inte-gration differentiation，PID）PIλDμ공제기구유경호적로봉성화항우동능력，단동시야가대료산법설계적난도。사용개진입자군산법대분수계 PIλDμ공제기삼수진행정정，즉해결료입자군산법용역사입자함입국부최우문제，우해결료분수계 PIλDμ공제기정정삼수다、설계복잡문제。통과방진대비실험，결과표명，해공제기능흔호지근거선박동태특성변화，자동진행괄응성삼수우화，구유근종속도쾌、항향공제초조소이급항우성강등우점。
To improve the course stability of underactuated surface vessel (USV),a fractional-order PIλD μ(proportion integration differentiation,PID)controller is applied to ship autopilot,which is more flexible,ro-bust and has stronger disturbance rejection ability with the integral-orderλ and differential-orderμ.However, difficulties for optimization also increase.A new method of designing PIλD μ controller based on the improved particle swarm optimization (IPSO)algorithm is proposed,which solves the problems of the particles falling in-to local optimum and the design complexity in fractional-order PIλD μ controller design.The fractional-order PIλD μ controller based on IPSO is compared with the traditional PSO-PID controller under the same conditions. The simulation results show that,the controller can optimize the adaptive parameters well and automatically, and has a high tracking speed,small overshoot and strong immunity.