针对自抗扰控制器参数整定通常采用“试凑法”，整定过程繁琐复杂，无法顺利得到合理控制参数的现状，根据自抗扰控制器设计的“分离性原理”提出了一种“三步优化法”.该方法利用多目标遗传算法对自抗扰控制器参数进行分步优化，可解决自抗扰控制器参数众多、难以便捷的整定问题.对带舵机约束的15万t级油船航向二阶自抗扰器参数进行整定.结果表明，该方法行之有效，便于工程应用.
Abstract
As to the problems of parameters tuning for active disturbance rejection controller (ADRC) usually using Cut & Try method to deal with the difficulties, and the procedure was complicated and tedious, and therefore it is hard to achieve the expected goal, a threestep procedure was established according to the separation principle. The method used the multiobjective genetic algorithm to optimize the parameters of ADRC step by step,which can deal with the difficulties in the parameter regulation of the ADRC. A numerical example was tested in the 2ndorder heading ADRC for a 150 000 t tanker with steering gear , and results show that the proposed method can easily find the optimal available parameters to design the ADRC and thus the controller can track the command heading quickly and smoothly.
关键词
船舶 /
航向控制 /
自抗扰控制器 /
遗传算法 /
参数整定
Key words
ship /
course control /
active disturbance rejection controller /
genetic algorithm /
parameter tuning
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参考文献
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