Autonomous underwater vehicle course angle control method based on improved firefly PID method

The invention aims to solve a problem of course angle control of an autonomous underwater vehicle. An improved firefly algorithm is used; the invention provides an autonomous underwater vehicle attitude control method based on an improved firefly PID method. PID control parameters are used as values of a firefly solution space; the error performance is used as an evaluation function of an improvedfirefly algorithm; the parameters of the PID controller for the course angle of the autonomous underwater vehicle are adaptively adjusted, a simulation result shows that the improved algorithm solvesthe problems of overshoot and overlong response time caused by improper selection of the parameters of the controller, and the improved firefly algorithm can be used for adaptively modulating the PIDcontrol parameters. 本发明针对自主水下航行器的航向角控制问题，利用改进的萤火虫算法，提出一种基于改进萤火虫PID方法的自主水下航行器姿态控制方法，通过将PID控制参数用作萤火虫解空间的值，将错误性能用作改进萤火虫算法的评估函数，实现对自主水下航行器航向角PID控制器参数的自适应调整，仿真结果表明，改进后的算法解决了由于控制器参数选择不当造成的过冲和响应时间过长的问题，改进的萤火虫算法可用于自适应地调制PID控制参数。