Parameter optimization of unmanned surface vessel propulsion motor based on BAS-PSO. (5th April 2022)

• Record Type: Journal Article
• Authors: Bian, Li; Che, Xiangqian; Chengyang, Liu; Jiageng, Dai; Hui, He
• Is Part Of: International journal of advanced robotic systems. Volume 19:Number 2(2022)
• Publication Date: 2022-04-05
• Subjects: Beetle antennae search -- particle swarm optimization -- propulsion motor -- unmanned surface vehicle -- PID parameter optimization; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/17298814211040688
• Languages: English
• ISSNs: 1729-8806

Abstract

Despite advances in modern control theory and artificial intelligence technology, current methods for tuning proportional-integral-derivative (PID) controller parameters based on the traditional particle swarm optimization (PSO) algorithm do not meet the requirements for controlling an unmanned surface vessel (USV) propulsion motor. To overcome the disadvantages of the PSO algorithm, such as low precision and easily falling into a local optimum, the beetle antennae search (BAS) algorithm can be introduced into the PSO algorithm by replacing particles with beetles, and effectively prevents the PSO algorithm from easily falling into the local optimum. At the same time, the BAS algorithm will no longer be limited to single objective parameterization. Herein, we propose a PID parameter optimization method based on the hybrid BAS-PSO algorithm for a USV propulsion motor. The PID parameter optimization of propulsion motor effectively becomes a beetle foraging problem with group optimization. Numerical results show that the method can effectively solve the problems of PSO and greatly improve convergence speed. Compared with the genetic algorithm and standard PSO algorithm, the BAS-PSO algorithm is superior for PID parameter tuning and can improve performance of USV propulsion system.