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《Journal of Dalian Maritime University》 2007-04
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Design of autopilot for ship steering based on immunological algorithm and reference model

HU Jiang-qiang a,GUO Chen b,YIN Jian-chuan a (a.College of Navigation;b.College of Automation and Electrical Engineering, Dalian Maritime University,Dalian 116026,China)  
A proportional-integral-derivative(PID) control algorithm with a model reference for ship's course was developed to solve the problem of big overshoot in conventional PID control.The controller made ship track the desired output of a reference model.A dynamic immunological clonal optimization algorithm was developed for tuning the control parameters.This optimization algorithm changed dynamically the antibody population,clone size and mutation parameters to speed up the global search and improve the local convergence precision.Moreover,the algorithm could achieve desired control parameters under relative requirement for function indexes.The simulations on a cargo ship verify that the controller can restrain effectively the overshoot,remove the steady-state error from disturbance and that the parameters are easy to be adjusted.
【Fund】: 国家自然科学基金资助项目(60774046);; 教育部高等学校博士学科点专项基金资助项目(20040151007);; 交通部应用基础研究资助项目(200432922504)
【CateGory Index】: U666.153
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