改进的模拟退火算法在水下机器人S面运动控制参数优化中的应用

doi:10.3969/j.issn.1000-1093.2013.11.012

兵工学报 ›› 2013, Vol. 34 ›› Issue (11): 1418-1423.doi: 10.3969/j.issn.1000-1093.2013.11.012

改进的模拟退火算法在水下机器人S面运动控制参数优化中的应用

孙玉山，李岳明，张英浩，万磊

(哈尔滨工程大学水下机器人技术重点实验室，黑龙江哈尔滨 150001)

收稿日期:2012-04-25 修回日期:2012-04-25 上线日期:2014-01-22
通讯作者: 孙玉山 E-mail:sunyushan@hrbeu.edu.cn
作者简介:孙玉山（1973—），男，副教授。
基金资助:
中国博士后科学基金项目（20100480964、2012T50331）；国家“863”计划项目（2008AA092301-2）；中央高校基本科研业务费专项（HEUCF1321007）

Improved Simulated Annealing Algorithm and Its Application in Adjusting of S Plane Parameters in AUV Motion Control

SUN Yu-shan, LI Yue-ming, ZHANG Ying-hao, WAN Lei

(Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, Heilongjiang, China)

Received:2012-04-25 Revised:2012-04-25 Online:2014-01-22
Contact: SUN Yu-shan E-mail:sunyushan@hrbeu.edu.cn

摘要/Abstract

摘要： 从模糊逻辑控制思想出发，借鉴PID控制的结构而设计的S面控制器

关键词: 控制科学与技术, 水下机器人, 运动控制, S面控制, 模拟退火

Abstract: S plane control is designed based on the fuzzy logic control and the form of PID control, which is a simple and effective method, but its control parameters must be adjusted manually. The control precision and effect may be reduced if the parameters of S plane controller are improperly set. A method for optimizing the control parameters of S plane based on the modified simulated annealing algorithm is proposed. The simulated annealing algorithm is improved through the selection of initial temperature, annealing algorithm, memory function, stop temperature setting, etc. The control parameters of S plane can be adjusted and optimized automatically using the algorithm. The experimental results show that the improved S plane controller based on the simulated annealing optimization possesses higher precision and quicker response compared with the traditional S plane controller.

Key words: control science and technology, underwater vehicle, motion control, S plane control, simulated annealing algorithm

中图分类号:

TP18

孙玉山，李岳明，张英浩，万磊. 改进的模拟退火算法在水下机器人S面运动控制参数优化中的应用[J]. 兵工学报, 2013, 34(11): 1418-1423.

SUN Yu-shan, LI Yue-ming, ZHANG Ying-hao, WAN Lei. Improved Simulated Annealing Algorithm and Its Application in Adjusting of S Plane Parameters in AUV Motion Control[J]. Acta Armamentarii, 2013, 34(11): 1418-1423.

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改进的模拟退火算法在水下机器人S面运动控制参数优化中的应用

Improved Simulated Annealing Algorithm and Its Application in Adjusting of S Plane Parameters in AUV Motion Control

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