中山大学学报（自然科学版）Issue(4)：23-28,36,7.DOI:10.13471/j.cnki.acta.snus.2015.04.005
基于极点配置的智能体 PID 运动控制器参数优化
Parameter Optimization of Agent PID Motion Controller Based on Pole Assignment
摘要
Abstract
Aimed at the problem of motion control of intelligent agent,the surface ship anti rolling was taken as an example with using the classical PID controller,which is easy to implement in engineering.A kind of accumulation and the performance indexes of the absolute error in time by the roll and yaw of the simplex optimization algorithm were proposed to solve the controller parameters optimization positive prob-lem.According to the actual system output,the controller parameters were deried for the optimization of the basis.The optimal roll and yaw control was ultimately achieved,and the practicability of the proposed controller was gratly improved.At the same time,due to the difference between the frequency character-istics of the roll and yaw,the high pass filter has better solved the rudder roll stabilization of course im-pact problem.The simulation results illustrated that the controller parameters of the simplex algorithm op-timization of the control effect increased with the high pass filter and reduced the impact on the course of the rudder roll stabilization.关键词
船舶减摇/PID 控制/单纯形优化算法/高通滤波器Key words
ship anti rolling/PID controll/simplex optimization algorithms/high pass filter分类
计算机与自动化引用本文复制引用
张光磊,齐红,贾鹤鸣..基于极点配置的智能体 PID 运动控制器参数优化[J].中山大学学报（自然科学版）,2015,(4):23-28,36,7.基金项目
中央高校基本科研业务费专项资金资助项目 （）
