Ship motion control based on AMBPS-PID algorithm

Ship motion control based on AMBPS-PID algorithm

Wang, L. (Wuhan University of Technology)
Wu, Qing (Wuhan University of Technology)
Liu, Jialun (National Engineering Research Center for Water Transport Safety (WTSC); Wuhan University of Technology)
Li, Shijie (Wuhan University of Technology)
Negenborn, R.R. (TU Delft Transport Engineering and Logistics)

2019

Intelligent motion control is one of the key technologies of ships. This paper studies the application of Adaptive Mutation Beetle Particle Swarm (AMBPS)-PID algorithm in ship motion control. Firstly, the ship MMG model is established. Then the BAS algorithm is introduced, and AMBPS algorithm is improved and designed on this basis. Secondly, ship heading and path following controllers are designed according to the algorithm, and rudder turning rate constraint is introduced to limit the rudder angle. Thirdly, through the test function effect analysis of AMBPS and other similar algorithms, the improved effect of this algorithm is verified. Finally, from manual tuning PID parameters to off-line and on-line optimizing parameters based on AMBPS algorithm, the optimal control parameters are obtained step by step, and the optimal heading and path following simulation results are achieved. Compared with the results of traditional PID, AMBPS-PID algorithm has a better adaptive control effect on ship motion control, reduces the error of manual tuning parameters and improves efficiency.

Motion control
heading control
path following
AMBPS-PID algorithm

http://resolver.tudelft.nl/uuid:10d459e7-f0f2-4e1a-918b-3fe5a2e31090

https://doi.org/10.1109/ACCESS.2019.2960098

2169-3536

IEEE Access, 7, 183656-183671

Institutional Repository

journal article

© 2019 L. Wang, Qing Wu, Jialun Liu, Shijie Li, R.R. Negenborn