基于模糊PID的小型ROV定深运动控制仿真  

Simulation of small-size ROV′s specified-depth motion control based on fuzzy PID

作　　者：綦声波[1] 尹保安 苏志坤 QI Shengbo;YIN Baoan;SU Zhikun(College of Engineering,Ocean University of China,Qingdao 266100,China)

机构地区：[1]中国海洋大学工程学院

出　　处：《现代电子技术》2020年第2期20-23,28,共5页Modern Electronics Technique

基　　金：国家自然科学基金（51475197）;国家重点研发计划(2016YFC1400800)

摘　　要：针对小型ROV定深运动的非线性、时变性及干扰因素复杂等问题,对小型ROV的定深运动控制进行研究。根据小型ROV的形体结构,建立小型ROV定深运动控制模型,通过对传统PID控制及模糊控制的学习,将模糊技术与传统PID控制相结合,设计基于模糊PID的小型ROV控制器,并在Simulink仿真环境中将模糊PID控制与传统PID控制的控制效果进行仿真比较。实验结果表明,基于模糊技术的PID控制器能有效提高系统的响应速度,减少系统的超调量,并提高系统的抗干扰能力,更有利于小型ROV的定深运动控制。In allusion to the problems of non⁃linearity,time⁃varying property and complex disturbance factors of specified⁃depth motion of small⁃size ROV,the specified⁃depth motion control of the small⁃size ROV is studied.The specified⁃depth control model of the small⁃size ROV is established according to the shape structure of the small⁃size ROV.The fuzzy technology and the traditional PID control are combined by studying the traditional PID control and the fuzzy control to design a small⁃size ROV controller based on fuzzy PID.The control effects of the fuzzy PID control and the traditional PID control are compared in Simulink simulation environment.The experimental results show that the PID controller based on the fuzzy technology can effectively improve the response speed and anti⁃interference ability of the system,and reduce the overshoot of the system,which is more conducive to the specified⁃depth motion control of the small⁃size ROV.

关 键 词：小型ROV 定深运动 模糊PID控制 模型建立 仿真实验 结果分析 

分 类 号：TN876-34[电子电信—信息与通信工程] TP242.3[自动化与计算机技术—检测技术与自动化装置]