ࡱ > ~ } [ \ M M )` R \ bjbj { { % 4 0 0 0 0 0 \2 0 2\ 3 2 65 65 65 65 6 j {6 , 6 E[ G[ G[ G[ G[ G[ G[ $ $] h _ D k[ = 6 6 = = k[ 65 65 [ P P P = 65 65 E[ P = E[ P P R R 65 2 + 0 L R 1Z \ 0 2\ R , _ *N _ R _ R d 6 7 P 8 -9 6 6 6 k[ k[ O 6 6 6 2\ = = = = 0 0 0 0 0 0 0 0 0 WN|P[OS{lv96RR[MON!jWc6RhV Ng O1 , 2 9N9N2 1 . 8^]Oo`LNb/gf[b 5uP[N5ul]z|_lς 8^] 2 1 3 1 6 4 2 . _lςyb'Yf[ 5uP[Oo`f[b_lς G_l 2 1 2 0 0 3 Xd N!jWc6Rt/fzfc6Rf[yvetQWVdkYUOibU\N!jWv^(uVv^OvQpT]zS[(uSb:NvQxvz͑p0[96ЏR!jWwQ g Nnx['`TYpbR:g'`I{yrp\Ջ\N!jW^(uN96RR[MOvc6RǏz-N01uNN!jWc6RhVX[(WSpeNte[vcQNWN|P[{lvOSel0[hQ|P[OS{l[fQseq6e[ev_eQ^|P[OS{l0NwxvzhfN!jWc6RS|P[OSvSL'`T gHe'`0 sQ.͋RR[MON!jWc6RhV|P[OS^|P[OS -NVR{|ST P 1 8 ; U 6 6 1 . 3 e.shƋxA D y n a m i c s h i p p o s i t i o n i n g c l o u d m o d e l c o n t r o l l e r d e s i g n b a s e d o n p a r t i c l e s w a r m o p t i m i z a t i o n a l g o r i t h m L i Z h o n g 1 , 2 , G u o D a n d a n 2 ( 1 . D e p t . of Electronic and Electrical Engineering, Changzhou College of Information Technology, Changzhou Jiangsu 213164, China; 2. School of Electronics and Information, Jiangsu University of Science and Technology, Zhenjiang Jiangsu 212003, China) Abstract: Cloud model control theory is emerging field in the intelligent control subject, consequently the research on it focuses on enlarging its application and making it be engineering and practical. As the ship motion model contains uncertainty and random external disturbance, tried to apply cloud model to the dynamic positioning control process. An improved design based on particle swarm optimization (PSO) was proposed to overcome the difficulty in parameters regulation of cloud model controller. In order to avoid premature convergence in standard PSO, the adaptive PSO (APSO) was introduced. Simulation results verify that the designed cloud model controller and particle swarm optimization are feasible and effective. Key words: dynamic positioning; cloud model; control l e r ; P S O ; A P S O 0 _ RR[MO|~/f Ny핯svc6R|~c6RhVǏKmϑ|~_0RvOSegqRcR|~NucR(uNbbΘ0jm0AmI{\O(u(W96 NvsXROvQ=\S0WOc(Wwms^b N[MOnDя[ 1 ] 0Nl|~vkRR[MO|~wQ g NS4lmP6R0:gR'`:_0d\O{OI{Op0@wN{|[wmm _SNc"}vmeQRR[MOb/gS_eg͑0 @wc6RtTb/gvSU\яt^eg NNzfSvc6Rel _Y^(u0RRR[MOc6RebkY!j|c6R0hc6R0^y~Q~c6RI{0N!jWc6R/f NyetQvzf{lvQW,g``/f)R(u{:geg[sNvc6R~[ 2 ] @bǑ(uvN!jW['`ctel NBl~Qc[av|nxpef[!jWTeSNOYuc[aSvQsX-NTy*gwv Nnx['`V }0(WOSteb|P[OS{l\O:N Nyevv^LOS{lvMR]^l^(uNyf[T]zW0tNdk,gecQNWNhQ|P[OS{lv96RR[MON!jWc6RhVel0:NKQ ghQ|P[{lVeq6e[eweQ@\ gOv:pcQNWN^|P[OS{lvN!jWc6RhVel0Nw~ghf@bc6RhVwQ go}Yc6RHeg0 1 96ЏRpef[!jW [NRR[MO96eg8^S QmQ1u^ЏR-Nv N*NsS~a0*jaTOGd[ 3 ] 0:Nc96v4ls^ЏR^zYV1 @b:yv96ЏRSPWh|O E X E Y E :N'Y0WPWh|O X Y :N9PWh|9PWh|vSp(W96͑_Y0[IN'Y0WPWh|Nv96MOnTOGd҉= ( x , y , ) 9PWh|Nv^TϑV = ( u , v , r ) 0 E M B E D V i s i o . D r a w i n g . 1 1 V1 964lbЏRPWh| 1 . 1 96ЏRNOpef[!jW [N4lbRR[MO96NOЏRSh:y:NNN!jW E M B E D E q u a t i o n . 3 ( 1 ) vQ-N"R 3 h:y1ucR|~cOvRTRwvc6RTϑu "R 3 h:yc6ReQB u "R 3 r /fcgbL:ggv8^pew5b "R 3 /f'Y0WPWh|-Nv8^ϑw5h:y1uΘ0jmSAm_wv*g^!jvY萛RTRw0 1 . 2 96ЏRؚpef[!jW 96vؚЏR[E N/f[ N6ljmvT^(WMOnT҉^ NSNw\O/fDRN;<\yvN6l/cahV E M B E D E q u a t i o n . 3 ( 2 ) _-No i ( i = 1 - 3 ) /fljm;N[si ( i = 1 - 3 ) :Nv[;<\|pei ( i = 1 - 3 ) Nljm:_^ gsQ0 1 . 3 sXR!jW 1 . 3 . 1 NOΘ!jW N,Ǒ(uMRc6Rve_egbmΘ\O(uRvq_TΘ[4lb96~a0*jaTOc N*N1u^eT Nvs^GW\O(uRTRwS cN_{ E M B E D E q u a t i o n . 3 ( 3 ) _-NC X 0C Y :NΘR|peC N :NΘRw|peS1uI s h e r w o o d ~lQ_Bl_a :Nzzl[^USMO:NK g / m 3 A T TA L R+R:N4l~N Nvckbq_byTObq_byUSMOGW:Nm 2 L :N96;`USMO:Nm V R :Nv[ΘUSMO:N0 1 . 3 . 2 OP]!jW 1uΘ 0N6ljmoyR0wmAm0cRhV_c1YSvQ[*g^!jR`_wvbaSsXpbRRTRwS(uYN N6ؚe- l\S+YǏz0O E M B E D E q u a t i o n . 3 ( 4 ) _-Nb :N N~Tϑh:ysXpbRRTRwT b :NS+Te8^pev N~[҉w5E b :N N~[҉w5h:ysXpbRRvE^