Abstract
The optimisation of the PID controllers' gains for separate propulsion and heading control systems of CyberShip I, a scale model of an oil platform supply ship, using Genetic Algorithms is considered. During the initial design process both PID controllers have been manually tuned to improve their performance. However this tuning approach is a tedious and time consuming process. A solution to this problem is the use of optimisation techniques based on Genetic Algorithms to optimise the controllers' gain values. This investigation has been carried out through computer-generated simulations based on a non-linear hydrodynamic model of CyberShip I.
Highlights
In order to ensure the safe navigation of surface vessels their motion has to be controlled accurately
The results presented are best cases obtained from several runs (i.e. 10 runs) of the Genetic Algorithms (GAs)
As it has been included a new term in the cost function (6) to reduce the oscillations in the input signal generated by the heading controller (i.e. t3), the GA has done so by decreasing K and KD to reduce the gain of the system and the noise amplification
Summary
In order to ensure the safe navigation of surface vessels their motion has to be controlled accurately. Computer-generated simulations based on a non-linear hydrodynamic model of CyberShip I are used in the optimisation studies These simulations have proven to be sufficiently representative of the full-scale manoeuvring dynamics of such a vessel. The investigation presented in the paper will represent part of a study into the optimisation of controller designs based on a number of different control methodologies. In this case the particular methodology considered is classical PID, a very simple and widespread controller. The results obtained from this study illustrate the benefits of using GAs to optimise propulsion and navigation controllers for surface ships. The accuracy of the resulting simulations allows meaningful evaluation of the optimised controllers’ performance
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