Parameter Tuning Method for USV Rudder Steering PID Control Based on HCOPSO Algorithm

CHEN Mingzhi; LIU Lanjun; CHEN Jialin; YANG Rui; LI Ming

doi:10.11993/j.issn.2096-3920.202112022

Volume 31 Issue 3

Jun 2023

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Article Navigation > Journal of Unmanned Undersea Systems > 2023 > 31(3): 381-387

CHEN Mingzhi, LIU Lanjun, CHEN Jialin, YANG Rui, LI Ming. Parameter Tuning Method for USV Rudder Steering PID Control Based on HCOPSO Algorithm[J]. Journal of Unmanned Undersea Systems, 2023, 31(3): 381-387. doi: 10.11993/j.issn.2096-3920.202112022

Citation:

CHEN Mingzhi, LIU Lanjun, CHEN Jialin, YANG Rui, LI Ming. Parameter Tuning Method for USV Rudder Steering PID Control Based on HCOPSO Algorithm[J]. Journal of Unmanned Undersea Systems, 2023, 31(3): 381-387. doi: 10.11993/j.issn.2096-3920.202112022

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Parameter Tuning Method for USV Rudder Steering PID Control Based on HCOPSO Algorithm

doi: 10.11993/j.issn.2096-3920.202112022

CHEN Mingzhi¹,
LIU Lanjun^{1, 2
,
,},
CHEN Jialin^{1, 2},
YANG Rui^{1, 2},
LI Ming^{1, 2}

1.
College of Engineering, Ocean University of China, Qingdao 266100, China
2.
Shandong Provincial Engineering Research Center for Marine Intelligent Equipment Technology, Qingdao 266100, China

Received Date: 2021-12-29
Accepted Date: 2023-05-30
Rev Recd Date: 2022-01-21

Available Online: 2023-05-31

Abstract

Abstract

The rudder steering control of high-speed unmanned surface vessels(USVs) must simultaneously satisfy the requirements of a short adjustment time and small overshoot. To satisfy the parameter tuning requirements for rudder steering proportional integral derivative(PID) control of USVs, a parameter tuning method based on the hybrid mean center opposition-based learning particle swarm optimization(HCOPSO) algorithm was devised in this study. The HCOPSO algorithm was used to optimize the parameters of the PID controller, and this prevented the optimization process from becoming trapped in local optimal solutions. The PID controller parameter tuning effects of the particle swarm optimization(PSO), linear decreasing inertia weight particle swarm optimization(LDIWPSO), and HCOPSO algorithms were compared and studied. The results indicate that the USV rudder PID controller with the HCOPSO algorithm has the best control effect. Compared with those of PSO and LDIWPSO, the adjustment time is reduced by 22% and 15%, the overshoot is reduced by 89% and 74%, and the number of iterations is reduced by 40% and 30%, respectively. Using the developed Jiuhang 750 USV, a marine environment test was performed. The test results indicate that the proposed method is effective for the rudder steering control of small high-speed USVs.
- unmanned surface vehicle,
- proportional integral derivative control,
- particle swarm optimization,
- rudder steering control,
- parameter tuning

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References(15)

References

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