基于模糊自适应串级PID控制器的仿生机器鱼位姿控制  

Posture Control of Bionic Robotic Fish Based on Fuzzy Self-adaptive Cascade PID Controller

作　　者：宋英杰 王刚[1] 唐武生[2] 赵强[1] SONG Yingjie;WANG Gang;TANG Wusheng;ZHAO Qiang(School of Mechanical and Control Engineering,Baicheng Normal University,Baicheng 137000,China;School of Mechanical and Vehicle Engineering,Changchun University,Changchun 130022,China)

机构地区：[1]白城师范学院机械与控制工程学院,吉林白城137000 [2]长春大学机械与车辆工程学院,吉林长春130022

出　　处：《控制工程》2023年第10期1870-1880,共11页Control Engineering of China

基　　金：吉林省教育厅科技研究项目(JJKH20210004KJ);吉林省自然科学基金资助项目(20220101138JC)。

摘　　要：为提高仿生机器鱼位姿的控制精度,针对串级PID控制器中固定的内环比例、积分、微分系数不能较好地适用于仿生机器鱼所面临的复杂水环境,且控制参数整定难度大等问题进行了研究。首先,在串级PID控制器的仿生机器鱼位姿控制的基础上,利用模糊控制实时调整串级PID控制器中内环的控制参数,提出基于模糊自适应串级PID控制器的仿生机器鱼位姿控制算法。然后,在多水下机器人协作控制系统平台下进行对比实验。实验结果表明,与串级PID控制器相比,模糊自适应串级PID控制器减少了仿生机器鱼到达目标位姿的时间,降低了位姿误差,验证了算法的有效性。In order to improve the control accuracy of bionic robotic fish posture,the problems that the proportion,integral and differential coefficients of the inner loop fixed by cascade PID controller cannot be well applied to the bionic robotic fish in the complex water environment and it's difficult to set the control parameters are studied.Firstly,on the basis of bionic robotic fish posture control of the cascade PID controller,fuzzy control is used to adjust the control parameters of the inner loop in cascade PID controller in real time,and bionic robotic fish posture control algorithm based on fuzzy self-adaptive cascade controller.Then,comparative experiments are carried out under the multi-underwater vehicle cooperative control system platform.The experimental results show that compared with the cascade PID controller,the fuzzy self-adaptive cascade PID controller can reduce the time of bionic robot fish to reach the target posture and the posture error,which verifies the effectiveness of the algorithm.

关 键 词：仿生机器鱼 串级PID控制器 模糊自适应串级PID控制器 位姿控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]