模糊PID策略在AUV控制中的应用  

Application on AUV control based on fuzzy PID strategy

作　　者：吴小平[1] 冯正平[1] 朱继懋[1] 

机构地区：[1]上海交通大学船舶海洋与建筑工程学院,上海200030

出　　处：《舰船科学技术》2007年第1期95-98,共4页Ship Science and Technology

摘　　要：由于自治水下机器人(AUV)动力学的非线性、模型参数以及海洋环境扰动的不确定性,基于常规PID控制的AUV性能通常不够理想。本文应用模糊控制对PID控制器的参数进行在线调整,从而使PID控制器具有自适应性以适应AUV工况的变化,并应用此策略为小型AUVSubzeroIII设计了自主航行控制系统,仿真结果验证了本策略的有效性。Due to the non-linear dynamics of autonomous underwater vehicles （AUVs） and large amount of uncertainties involved in model parameters （e. g. hydrodynamic coefficients） and environmental disturbances, the performance of AUVs which are controlled by traditional PID （proportional-integral-derivative） based schemes is usually unsatisfactory. To adapt PID controllers to variable operational conditions of AUVs, fuzzy logic is utilized to on-line tune the parameters of PID controllers and thus forms a fuzzy PID control scheme. The scheme is then applied to develop the autopilots of forward speed, heading and depth for a small AUV-Subzero Ⅲ and numerical simulations results show the effectiveness of the scheme.

关 键 词：模糊控制 PID控制 自治水下机器人 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]