Research On Parameter Optimization Of Ship Course PID Controller Based On Simulated Annealing Algorithm

Most of ship heading control is based on PID control, in virtue of its simple principle, implement easily, strong adaptability, apt parameter adjustment, it has been widely used.but conventional PID control parameter adjustment usually cannot achieve the desired effect. So using different optimization methods to solve PID parameter problem becomes most effective control system design scheme.Simulated annealing algorithm(SA) is an improved algorithm based on local search algorithm, this thesis take advantage of its characteristics of clear mind,simple principle,flexible using to optimize ship heading control PID parameter off-line, according to the characteristics of ship heading control shall ensure that the course error and operating rudder angle should be as small as possible. To determine the object function and the parameter of simulated annealing, The objective function makes use of the SA algorithm search iterative computation, reaching a optimized PID parameters, making simulation experiment and contrasting with genetic algorithm (GA) and simplex algorithm optimizing PID parameters proved the feasibility and superiority of simulated annealing algorithm in the PID parameter optimization. Short convergence time, none of overshoot, rising quickly, small operating rudder angle and very strong robustness.Against simulated annealing algorithm optimization for PID parameter having long computation time and losing middle optimal solution problem,proposing an improved simulated annealing algorithm,add algorithm intermediate memory links and optimize annealing schedule,compared the simulation experiment of the ship heading PID control based on improved simulated annealing algorithm with the conventional simulated annealing algorithm,the improved simulated annealing has better rapid convergence rate and equivalent reliability of final solution,has certain practical value.