基于模糊PID方法的ROV操纵控制仿真  

Simulation on manoeuvre and control of ROV based on fuzzy PID algorithm

作　　者：刘可峰[1,2] 连琏[1] 曹俊亮[1] 王秋智 

机构地区：[1]上海交通大学船舶海洋与建筑工程学院,海洋工程国家重点实验室,上海200240 [2]江苏科技大学船舶与海洋工程学院,江苏镇江212003

出　　处：《江苏科技大学学报（自然科学版）》2015年第1期70-75,共6页Journal of Jiangsu University of Science and Technology:Natural Science Edition

基　　金：国家自然科学青年基金资助项目(51309125);国家高技术研究发展计划(2008AA092301-1)

摘　　要：为应对复杂的作业工况和海洋环境,研究了水下中型作业遥控机器人(ROV)的操纵控制运动.文章分析了作业型ROV的操纵特性,根据其基本的定向、定高和定深的航行能力需求,基于模糊PID方法的控制原理,为其配置了精度高、响应快的控制系统,建立了4自由度操纵控制运动模型,对定向、定高等运动性能的操纵进行仿真研究,通过水池实验验证了该控制方法的有效性.The research on manoeuvre and control of a mid-size ROV （remotely operated vehicle） was carried out to deal with complex ocean environment and manipulation conditions. The manoeuvre features of manipula- tion ROVs were analyzed,which usually requires the capacity of orientation keeping, depth keeping, and height keeping, and the control system was provided with the performance of high precision and fast response. A 4 - DOF （ degrees of freedom） motion model of a mid-size ROV was created based on fuzzy PID algorithm and the simulation on manoeuvre and control of orientation keeping and height keeping was run. The simulation result ac- cords with the trial in deep water tank, showing that the methods are effective.

关 键 词：ROV 模糊PID 4自由度 操纵仿真 

分 类 号：U661.33[交通运输工程—船舶及航道工程]