基于模糊理论的水下航行器运动控制及仿真研究  

Research on motion control and simulation of underwater vehicle based on fuzzy theory

作　　者：胡锦晖[1] 胡大斌[1] 肖剑波[1] HU Jin-hui;HU Da-bin;XIAO Jian-bo(Naval University of Engineering, Wuhan 430033, Chin)

机构地区：[1]海军工程大学,湖北武汉430033

出　　处：《舰船科学技术》2017年第12期59-63,共5页Ship Science and Technology

摘　　要：为消除传统模糊控制存在的控制盲区,采用模糊控制与PID控制结合的控制方案。针对现有变论域模糊控制运算量大、推理规则利用率低等缺点,提出分级变论域的方法,设计某型水下航行器相应的模糊PID控制器,并利用计算机进行仿真试验。结果表明,相较于传统PID控制,在水下航行器深度及纵倾控制中,模糊PID控制器具有速度快、超调小及稳定时间短等特点,对于复杂非线性对象的控制器设计有着较好的借鉴意义。In order to eliminate the control blind zone in the traditional fuzzy control, the combining of fuzzy control and PID control is adopted. Aiming at the characteristic of large amount of computation and low utilization ratio of reasoning rules for the existing variable universe fuzzy control, the method of hierarchical variable domain is proposed. The fuzzy PID controller for some type of Under Water（UV） is designed. And the simulation experiments are carried out. The results show that fuzzy PID controller has the advantages of fast speed, small overshoot and short settling time by comparing with the traditional PID control in the depth and vertical tilt control of UV. This is a good reference for the controller design of complex nonlinear object.

关 键 词：水下航行器 控制 模糊理论 

分 类 号：U661.33[交通运输工程—船舶及航道工程]