基于参数自整定PID的水下滑翔机航向控制方法  

A steering control method of underwater glider based on parameter self-tuning PID

作　　者：陈弈煿 张润锋 杨绍琼 张连洪 魏鹏 CHEN Yibo;ZHANG Runfeng;YANG Shaoqiong;ZHANG Lianhong;WEI Peng(Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education,School of Mechanical Engineering,Tianjin University,Tianjin 300350,P.R.China;Qingdao Institute for Ocean Engineering,Tianjin University,Qingdao,Shandong 266237,P.R.China;The Joint Laboratory of Ocean Observing and Detection,Pilot National Laboratory for Marine Science and Technology,Qingdao,Shandong 266237,P.R.China)

机构地区：[1]天津大学机械工程学院机构理论与装备设计教育部重点实验室,天津300350 [2]天津大学青岛海洋技术研究院,山东青岛266237 [3]青岛海洋科学与技术试点国家实验室海洋观测与探测联合实验室,山东青岛266237

出　　处：《重庆大学学报》2022年第8期26-33,共8页Journal of Chongqing University

基　　金：国家重点研发计划资助项目(2016YFC0301101);国家自然科学基金青年科学基金资助项目(11902219);天津市自然科学基金资助项目(18JCJQJC46400)。

摘　　要：水下滑翔机航向控制的精度对海洋目标观探测具有重要意义。现有的水下滑翔机航向控制技术以比例-积分-微分(proportional-integral-derivative, PID)为主。为保证水下滑翔机按照预期轨迹运动,PID控制器参数需要反复设定和调整,很难达到快速准确的控制效果。针对该问题,提出了一种基于径向基函数(radial basis function, RBF)神经网络的参数自整定PID航向控制方法。首先建立水下滑翔机水平面内运动模型,然后构建了RBF神经网络结构,并通过梯度下降法给出了神经网络参数以及PID参数的迭代公式。仿真结果表明,该方法相较于常规PID控制方法能在较短的时间内收敛,控制系统精度较高,同时控制器参数能够快速自整定。为今后的水下滑翔机航向控制器提供了设计参考。The accuracy of steering control of an underwater glider is very important for ocean target detection. Current steering control of the underwater glider(UG) mainly uses proportional-integral-derivative(PID) controller. However, to ensure that the underwater glider moves in accordance, PID controller parameters need to be repeatedly set and adjusted, which makes it difficult to meet the requirements for fast and accurate control. To solve the problem, a parametric self-tuning PID control method based on the radial basis function(RBF) neural network was proposed. Firstly, the dynamic model of the underwater glider in the horizontal plane was established. Then, the RBF neural network structure was constructed, and the iterative formulas of neural network parameters and PID parameters were given by the gradient descent method. Simulation results show that compared with the conventional PID controller, this controller has shorter setting time, higher precision, and the parameters of the controller can be quickly self-tuned. It provides a reference for the design of the underwater glider steering controller in the future.

关 键 词：水下滑翔机 航向控制 自整定PID 径向基神经网络 

分 类 号：U664.82[交通运输工程—船舶及航道工程] TP273[交通运输工程—船舶与海洋工程] U674.941[自动化与计算机技术—检测技术与自动化装置]