为了提高动力定位（DP）铺缆船在铺设海底电缆时的路径循迹能力，设计非洲秃鹫算法优化模糊PID的船舶控制器（AVOA-Fuzzy-PID）。船舶运动数学模型采用三自由度，加入风、浪、流作用力模拟海况，以船舶的位置和姿态矢量与实际值的差值作为控制器输入。在传统PID控制器基础上加入模糊控制，根据模糊控制规则寻求Kp、Ki、Kd的调整变化量ΔKp、ΔKi、ΔKd与e和de间的关系，自动调节参数，加强控制器稳定性，使船舶沿规划路径向目标位置航行。采用非洲秃鹫算法结合Levy飞行策略计算船舶模型，通过确定每组最优秃鹫、秃鹫饥饿率、探索和开发4个阶段，并在开发阶段引入Levy飞行策略，增强全局搜索能力，确定秃鹫食物源最优位置，防止结果陷入局部最优，提高计算结果精确性。仿真结果表明，结合AVOA算法的模糊PID控制器能够提高船舶路径跟踪效率，使其跟踪过程较为平顺。通过对比PSO、GA和SSA算法优化Fuzzy-PID控制器参数可以看出，AVOA对Kp、Ki、Kd参数整定收敛速度较快，控制器适应度值较低，寻优精度较高，能够使船舶沿规划路径航行。
In order to improve the path tracking ability of dynamic positioning (DP) cable-laying ships when laying submarine cables, an African culture algorithm combined with a fuzzy PID ship controller (AVOA fuzzy PID) is designed. According to the mathematical model of three degrees of freedom ship plane motion, the force of the wind, wave, and current is added to simulate the sea state, and the difference between the ship's position and attitude vector and the actual value is taken as the controller input, the relationship between the adjustment changes of Kp、Ki、Kd and the relationship between ΔKp、ΔKi、ΔKd and e and de is sought according to the fuzzy control rules, and the parameters are automatically adjusted to make the ship sail along the planned path to the target position. The African Vulture Algorithm computational model was used to determine the optimal location of vulture food sources by determining the optimal vulture for each group, the vulture hunger rate, exploration, and exploitation in four stages, combined with the Levy flight strategy to prevent falling into a local optimum and improve the accuracy of the computational results. The results show that the AVOA algorithm rectifies the Kp、Ki、Kd parameters quickly. For not different algorithms, AVOA has higher accuracy in finding the optimum and faster convergence. It is also combined with fuzzy PID control to improve the efficiency of ship path tracking and make its tracking process smoother.
2024,46(6): 73-80 收稿日期：2022-11-11
DOI：10.3404/j.issn.1672-7649.2024.06.013
分类号：U661.33
基金项目：国家电网公司科技项目(SGSDYT00JJJS2100597)
作者简介：赵勇(1979-),男,高级工程师,研究方向为电网工程建设管理
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