Optimization The PID Controller Of Fin Stabilizer Based On Genetic Algorithm

The progress of human civilization is closely related to maritime transport. Ship while at sea, due to the waves, the sea breeze, the sea currents and other disturbance of the marine environment, inevitable must have the shaking movement. Fin stabilizer is one of the most effective ship-stabilized equipment. As the computer technology and intellective control theory have developed quickly in recent years, a series of studies have done to design some effective and intelligent fin stabilizer in order to improve effect of the system of fin stabilizer.The mathematical models of 2-D irregular long crested waves and 3-D irregular short crested waves are establish, and obtain a perfect real wave effect base on Matlab and finish the vision of 3-D ocean waves base on OpenGL. Design of a new GA which inquired a learning process which can effectively overcome the drawbacks of classical GA. Uses the new genetic algorithm to carry on the optimization to the parameter of Fin stabilizer PID controller, take as far as possible reduces the ships rolling as the goal. The main contents and innovation of this dissertation includes:Firstly, Has studied the linear rolling movement model and the nonlinear rolling movement model of the ship. Then based on the ocean waves mathematical model, has realized the ocean waves two-dimensional and the three dimensional simulation, used the OpenGL function in three dimensional image's processing to realize, The simulation results have good visual realistic . Uses the strategy of separated of the calculates and demonstrates, enabled the simulation to have a quicker speed, basically might achieve the real-time emulation.Secondly, Introduced simply several kind of present commonly used ships anti-rolling system, has studied the ships Fin stabilizer control system, including the system in each part of functions, the transfer function and the Fin stabilizer control rule and an improvement PID controller which is suitable for the Fin stabilizer.Thirdly, design of a new GA which inquired a learning process which can effectively overcome the drawbacks of "early maturing" and bad globle convergency of classical GA.Fourthly, Uses the new GA to carry on the optimization to the parameter of Fin stabilizer PID controller. Has carried on two kind of sea sentiment simulation, obtains the optimized parameter and the rolling angular motion curve, and carry on the comparison with the traditional simplex method, confirmed the new GA is more useful in nonlinear circumstances.