The required control force vector is distributed by the thrusters in marine dynamic positioning system (DPS) to obtain the desired thrust and angle of each thruster. The thrust of the thruster is mapped to the speed of the thruster, and the low-level thrust controller adjusts the speed of the thruster to achieve the vessel’s dynamic position. Based on the previous research, the permanent magnet synchronous motor (PMSM) is selected as the low-level driving motor, and it is combined with the propeller to form the low-level thrusters for the DPS. The fuzzy control strategy is selected for the PMSM controller design, and the proposed chaotic random distribution harmony search (CRDHS) algorithm is used to optimize the fuzzy controller rules’ weights. The proposed CRDHS employs a chaotic map for rule weight adaptation in order to prevent the conventional harmony search to get stuck on local solutions. By adjusting the weights of each fuzzy rule via CRDHS, more consistent control performance is achieved. The required fuzzy output and the fuzzy controller are used for control of the PMSM. Simulation results show that under load disturbance, the fuzzy controller based on CRDHS has better control performance.

所需的控制力矢量由船舶动态定位系统（DPS）中的推进器分配，以获得每个推进器的期望推力和角度。推进器的推力映射到推进器的速度，并且低级推力控制器调整推进器的速度以实现船舶的动态位置。在先前的研究基础上，选择永磁同步电动机（PMSM）作为低水平驱动电动机，并将其与螺旋桨组合形成DPS的低水平推进器。在永磁同步电机控制器设计中选择了模糊控制策略，并采用混沌随机分布和声搜索（CRDHS）算法优化了模糊控制器规则的权重。建议的CRDHS为规则权重调整采用混沌映射，以防止传统的和声搜索陷入局部解。通过CRDHS调整每个模糊规则的权重，可以获得更一致的控制性能。所需的模糊输出和模糊控制器用于控制PMSM。仿真结果表明，在负荷扰动下，基于CRDHS的模糊控制器具有较好的控制性能。