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首页> 外文会议>National technical seminar on underwater system technology >Data-Driven PID Tuning for Liquid Slosh-Free Motion Using Memory-Based SPSA Algorithm
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Data-Driven PID Tuning for Liquid Slosh-Free Motion Using Memory-Based SPSA Algorithm

机译：使用基于存储器的SPSA算法的液体斜率运动进行数据驱动的PID调谐

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This study proposes a data-driven PID tuning for liquid slosh suppression based on enhanced stochastic approximation. In particular, a new version of Simultaneous Perturbation Stochastic Approximation (SPSA) based on memory type function is introduced. This memory-based SPSA (M-SPSA) algorithm has the capability to obtain a better optimization accuracy than the conventional SPSA since it is able to keep the best design parameter during the tuning process. The effectiveness of this algorithm is tested to data-drive PID tuning for liquid slosh problem. The achievement of the M-SPSA based algorithm is assessed in terms of trajectory tracking of trolley position, slosh angle reduction and also computation time. The outcome of this study shows that the PID-tuned M-SPSA is able to provide better control performance accuracy than the other variant of SPSA based method.
机译：本研究提出了一种基于增强随机近似的液体斜面抑制的数据驱动的PID调谐。特别地，引入了基于存储器类型功能的新版本的同时扰动随机近似（SPSA）。基于存储器的SPSA（M-SPSA）算法具有比传统SPSA更好的优化精度，因为它能够在调谐过程中保持最佳设计参数。该算法的有效性测试到数据驱动PID调谐以进行液体扫描问题。根据推车位置，Slosh角度降低以及计算时间来评估基于M-SPSA基于M-SPSA的算法的算法。本研究的结果表明，PID调谐的M-SPSA能够提供比基于SPSA的其他变型的更好的控制性能精度。

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