###
工程科学与技术:2024,56(1):22-34
←前一篇   |   后一篇→
本文二维码信息
码上扫一扫!
基于改进麻雀优化PID的波浪补偿控制方法
(上海海事大学 物流工程学院,上海 201306)
An Improved Sparrow Search Algorithm Optimized Control Strategy for Active Wave Compensation
(School of Logistics Eng., Shanghai Maritime Univ., Shanghai 201306, China)
摘要
图/表
参考文献
相似文献
附件
本文已被:浏览 260次   下载 147
投稿时间:2023-07-08    
中文摘要: 随着海上风电“十四五”规划的不断推动,在深远海域对兆瓦级大功率海上风机的需求量随之增加,其规模也在不断扩大。但是,在吊运、安装等海上工作过程中,复杂海浪对船舶产生的持续影响导致风机安装的精度和效率大幅下降,甚至会对人员安全以及财产造成重大损失。在深远海域复杂海况下对工程船舶进行有效的波浪补偿,可提供稳定的作业环境以保证精准高效地完成各项工作,因此,本文提出了一种基于改进麻雀优化PID的波浪补偿控制方法并将其应用于Stewart补偿平台。首先,建立波浪补偿平台动力学以及运动学反解模型,并设计正解模型迭代求解算法。随后,使用PID进行波浪补偿控制,并通过麻雀搜索算法优化参数。接着,采用Circle混沌映射对其进行初始化分布,以解决初始化不均匀的问题;并采用动态自适应加权、柯西突变以及反向学习以提升算法全局寻优能力。最后,生成4~6级海况下的某工程船运动数据作为系统输入,利用MATLAB和Simulink软件平台搭建模型进行补偿控制验证,并在Stewart硬件平台上做补偿试验。结果表明,改进麻雀搜索算法具有较快的收敛速度、较高的精度和更好的寻优能力,优化后的PID控制方法更适合用于复杂海况下波浪补偿平台的控制优化,可为大功率海上风机安装的补偿平台控制系统设计提供参考。
Abstract:With the continuous promotion of the 14th Five-Year Plan for offshore wind power, the demand for megawatt-level high-power offshore fans in deep far sea areas has increased. However, in the process of offshore work such as lifting and installing the fans, the continuous fluctuation impacts of complex waves on the ship lead to a significant decline in the accuracy and efficiency, and even cause significant losses to personnel safety and property. Effective wave compensation for engineering ships in the complex sea conditions can provide a stable working environment to ensure accurate and efficient tasks. Therefore, a wave compensation control strategy based on the improved sparrow search PID algorithm was proposed in this paper and applied to the Stewart compensation platform. Firstly, based on Stewart compensation platform, the kinetic and inverse kinematics models of the wave compensation system were established, and an iterative solution algorithm of the positive solution model was designed. Then, the PID (Proportion Integration Differentiation) was used for wave compensation control since it is mature and easy for hardware implement. To get the suitable three parameters of PID for superior performances, the sparrow search algorithm was used to optimize the parameters. Whereafter, the Circle Chaotic Mapping method was used to initialize the values distribution to solve the problem of uneven initialization. The Cauchy Mutation and Reverse Learning methods were used to improve the global optimization ability of the algorithm. Finally, the motion of an engineering ship in class 4-6 sea state was input to the system, and the model was built with MATLAB/Simulink and carried out on the Stewart hardware platform to verify the effects of the compensation control method. In view of the above research, this paper mainly contains the following aspects: 1) Building the simulation model of the wave compensation system. The SimMechanics tool in Simulink was used to establish a dynamic modle according to the mechanical structure and transmission mode of Stewart platform. The upper and lower layers were used as wave compensation system and ship motion simulation system respectively. The pose analysis and homogeneous coordinate transformation were carried out, and the forward and inverse kinematics models were established. In the meantime, for the continuous ship trajectory, the iterative solution algorithm of the forward solution model was designed and verified by simulation. 2) Establishing the optimal control method of the wave compensation system. According to the model characteristics and control requirements of wave compensation, the PID control method was applied. The wave compensation system was controlled by PID based on the difference between the axis length reference displacement and the actual displacement detected by the encoder. PID parameters were optimized by the sparrow search algorithm, while corresponding improvements were made to address the shortcomings of the basic sparrow search algorithm. 3) Simulation verifications based on wave compensation system. The AQWA software was used to generate ship motion data with different wave heights and periods. The ablation experiments of the improved sparrow search algorithm were carried out in MATLAB/Simulink software under the sea state of 4-6 PM spectrum and the gravity waves under the sea state of 6 at 90°and 180°wave direction angles. It was verified that Circle Cauchy Reverse Sparrow Search Algorithm (CCRSSA) had better effect on PID control parameter optimization. Then comparing with Genetic Algorithm (GA), Particle Swarm Optimization (PSO) and other algorithms, the results showed that the improved sparrow search algorithm had good optimization control effect and convergence speed under different sea conditions of 4-6 levels. Finally, compared with reinforcement learning control method, it was proved that the improved PID control could achieve better compensation for ship motion and had the advantage of real-time response. 4) Test verification based on the hardware platform. The comparison test between CCRSSA and PSO was carried out with hardware equipment. The length of the electric cylinder was collected by the enconder, and then the positive solution of the collected electric cylinder length data was calculated. The compensation results of three degrees of freedom showed that the compensation control results of CCRSSA under different sea conditions had advantages, with adaptability and generalization. Finally, compensation error and efficiency in different ship motion values were calculated. Although the compensation efficiency was decreased slightly with the increase of sea state grade, it was still above 95%. It could meet the needs of high precision wave compensation and meet the requirements of actual offshore operations. This paper mainly studies the compensation control of multi-degree-of-freedom wobble caused by irregular and regular wave movement of engineering ships in deep sea areas under class 4~6 sea conditions. From the aspects of forward and inverse kinematics analysis, modeling, control and parameter optimization, some achievements have been made. However, there are still some domains that have not been explored and studied, and the studies are needed to supplement in follows: 1) In practical applications, the sea state environment is complex and changing, and the invariable compensation control system model is not suitable for the changing environment. Therefore, it will be more helpful to study adaptive models under the changeable environment and carry out the hardware online test with virtual simulation platform. 2) The model established in this paper is relatively complex and mainly used for the design of offline control schemes, which cannot apply some deep learning methods to online interactive learning. Therefore, it is urgent to study models that can be applied to deep learning and online control.
文章编号:202300513     中图分类号:P751    文献标志码:
基金项目:国家自然科学基金项目(NSFC52105466)
作者简介:第一作者:张琴(1982-),女,副教授.研究方向:基于物联网的集散控制系统优化和大数据特征识别.E-mail:qinzhang@shmtu.edu.cn;通信作者:胡雄,E-mail:huxiong@shmtu.edu.cn
引用文本:
张琴,蔡慧茹,兰明东,浦克,胡雄.基于改进麻雀优化PID的波浪补偿控制方法[J].工程科学与技术,2024,56(1):22-34.
ZHANG Qin,CAI Huiru,LAN Mingdong,PU Ke,HU Xiong.An Improved Sparrow Search Algorithm Optimized Control Strategy for Active Wave Compensation[J].Advanced Engineering Sciences,2024,56(1):22-34.