水下推进器控制系统设计  

Control System Design of Underwater Thruster

作　　者：薛志斌[1] 罗才宝 

机构地区：[1]青海大学智能系统与控制实验室,青海西宁810016 [2]青海大学昆仑学院,青海西宁810016

出　　处：《计算机仿真》2015年第5期407-410,共4页Computer Simulation

基　　金：国家自然科学基金项目(61165016);青海大学高层次人才博士科研启动资金项目(2012-QGC-10)

摘　　要：水下推进器控制系统是复杂、非线性、时变、耦合且对控制策略要求很高的控制系统,常规PID控制很难满足控制要求。针对水下螺旋桨型推进器控制系统提出了一种经改进的模糊PID参数自适应整定控制方式,并利用MATLAB/Simulink软件平台进行了建模与仿真。仿真结果表明,模糊PID参数自适应整定控制的控制效果明显优于常规PID控制和单纯的模糊自适应控制方式。经比较和分析得知,所提出的控制算法具有良好的鲁棒性和实时性,从而验证了改进控制算法的可行性和有效性。Underwater propulsion control systems are complex, nonlinear and time-varying, coupled systems, conventional PID control can hardly meet the requirements of this kind of systems. For this reason, an improved Fuzzy PID parameters adaptive adjusting control was put forward for underwater propeller type impeller control system in this paper. The modeling and simulation based on MATLAB/Simulink software platform were carried out. The simulation results have concluded that the control effect of the Fuzzy PID Parameters Adaptive adjusting control is superior to conventional PID control mode and pure Fuzzy Adaptive control mode. By comparison and analysis, the proposed control algorithm has good robustness and real-time performance.

关 键 词：比例积分微分控制 模糊自适应控制 建模与仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]