In view of the risk of "topping" caused by the change of water level or sudden change of flow velocity during the operation of the ship lock, this paper puts forward a control strategy of anti-collision warning device based on multi-modal sensor fusion and adaptive PID control algorithm. By fusing the data of laser ranging, pressure sensor and current meter, an error feedback mechanism is constructed, and PID parameters are adjusted in real time to improve the response speed and robustness of the system in complex water conditions. The Ziegler-Nichols method is used for off-line initial parameter tuning, and particle swarm optimization (PSO) algorithm is combined to realize on-line parameter adaptive optimization, which can effectively deal with nonlinear flow disturbance and model uncertainty. The experimental results show that the proposed method can restore the stability of the system within 3.2s under the sudden change of flow rate of 0.5 m/s, and the maximum dynamic deviation is controlled within 0.15 m, which is significantly better than the traditional fixed parameter PID control. The research results provide a feasible path and theoretical support for the intelligent upgrade of ship lock collision avoidance system.
Fei Wang (Sun,) studied this question.