AVOA optimised fuzzy-PID based trajectory control for DP cable-laying vessels
In order to improve the path tracking ability of dynamic positioning(DP)cable-laying ships when laying submarine cables,an African culture algorithm combined with a fuzzy PID ship controller(AVOA fuzzy PID)is designed.According to the mathematical model of three degrees of freedom ship plane motion,the force of the wind,wave,and cur-rent is added to simulate the sea state,and the difference between the ship's position and attitude vector and the actual value is taken as the controller input,the relationship between the adjustment changes of Kp、Ki、Kd and the relationship betweenΔKp、ΔKi、ΔKd and e and de is sought according to the fuzzy control rules,and the parameters are automatically adjusted to make the ship sail along the planned path to the target position.The African Vulture Algorithm computational model was used to determine the optimal location of vulture food sources by determining the optimal vulture for each group,the vulture hunger rate,exploration,and exploitation in four stages,combined with the Levy flight strategy to prevent falling into a local optimum and improve the accuracy of the computational results.The results show that the AVOA algorithm rectifies the Kp、Ki、Kd parameters quickly.For not different algorithms,AVOA has higher accuracy in finding the optimum and faster convergence.It is also combined with fuzzy PID control to improve the efficiency of ship path tracking and make its track-ing process smoother.
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