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首页> 外文期刊>International Journal of Swarm Intelligence and Evolutionary Computation >Robust PID Tuning of Autonomous Underwater Vehicle Using Harmonic Search Algorithm Based on Model Order Reduction
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Robust PID Tuning of Autonomous Underwater Vehicle Using Harmonic Search Algorithm Based on Model Order Reduction

机译：基于模型降阶的谐波搜索算法对水下机器人的鲁棒PID整定

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The objective of this paper is to present Genetic Algorithm (GA) and Harmonic Search Algorithm (HSA) based on PID tuning and Model Order Reduction with Balance Truncation (MORBT). This method is used for constructing a second order balanced truncation model order reduction for symmetric linear time invariant third order control systems. These methods are closely related to the proper and improper controllability and observability Gramians and Hankel singular values of descriptor systems. The HS (Harmonic Search) algorithm mimics behaviours of music players in an improvisation process, in order to find a better state of harmony which can be translated into a solution vector in the optimization process. PID (proportional-integral-derivative) controller provides sufficient stability margins and good time responses. It is now possible to design an optimal PID controller with properties of a GA and HSA. In control strategies, like PID controller are successfully designed to control the autonomous underwater vehicle. The elementary focus is to simulate the controller response.
机译：本文的目的是提出基于PID调整和带有平衡截断的模型降阶的遗传算法（GA）和谐波搜索算法（HSA）。该方法用于构造对称线性时不变三阶控制系统的二阶平衡截断模型阶约。这些方法与描述符系统的Gramians和Hankel奇异值的正确和不恰当的可控制性和可观察性密切相关。 HS（谐波搜索）算法模仿即兴演奏过程中音乐播放器的行为，以便找到更好的和谐状态，该状态可以在优化过程中转换为解向量。 PID（比例积分微分）控制器提供了足够的稳定性裕度和良好的时间响应。现在可以设计出具有GA和HSA属性的最佳PID控制器。在控制策略中，像PID控制器这样的成功设计可以控制自主水下航行器。基本的重点是模拟控制器的响应。

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