基于模糊PID的小型水下机器人运动控制研究  

Research on Motion Control of Small Remote Operated Vehicles Based on Fuzzy PID

作　　者：管志光 吴昊 王学林[2] 林明星[3] GUAN Zhiguang;WU Hao;WANG Xuelin;LIN Mingxing(School of Construction Mechanical,Shandong Jiaotong University,Jinan 250023,China;Institute of Automation,Shandong Academy of Sciences,Jinan 250000,China;School of Mechanical Engineering,Shandong University,Jinan 250061,China)

机构地区：[1]山东交通学院工程机械学院,济南250023 [2]山东省科学院自动化研究所,济南250000 [3]山东大学机械工程学院,济南250061

出　　处：《火力与指挥控制》2024年第10期111-117,共7页Fire Control & Command Control

基　　金：山东省自然科学基金(ZR2020ME267,ZR2023MF077);山东省高等学校青创科技支持计划(2019KJB014);山东省交通运输科技计划基金资助项目(2023B93)。

摘　　要：小型水下机器人(ROV)具有运动灵活、可靠性高等优点,在水下探测作业领域得到了广泛应用,但水下机器人工作环境复杂多变,自身运动具有强非线性与强耦合性,导致其稳定性降低。根据自行设计的ROV结构特点与水下运动规律建立了ROV运动控制模型,推导了转艏与定深运动控制传递函数,在此基础上设计了基于PID控制与模糊控制模糊PID控制器。通过仿真分析与水下试验对模糊PID控制器性能进行验证,转艏运动试验过程中,ROV稳定后保持稳态误差±3°内浮动;定深运动试验过程中,ROV稳定后保持稳态误差±3cm内浮动。结果表明设计的模糊PID控制器具有系统超调量小、调整时间快与抗干扰能力强等优点,可精准控制ROV完成设定运动。Small Remote Operated Vehicle(ROV)has been widely used in the field of underwater exploration because of its flexibility and high reliability,etc.The operation environment of ROV is complex and changeable,but its motion has strong nonlinearity and strong coupling,which leads to the decrease of its stability.The ROV motion control model is established according to the ROV structure features and the underwater motion law,and the control transfer function of course changing and fixed depth motion is derived.A fuzzy PID controller is designed based on PID control and fuzzy control.The performance of the fuzzy PID controller is verified by simulation analysis and underwater tests.During the course-changing tests,the steady-state error is within±3°as the ROV is stabilized;and during the fixed depth motion tests,the steady-state error is within±3 cm as the ROV is stabilized.The result shows that the designed fuzzy PID controller has the advantages of small overshoot,fast adjustment time and strong anti-jamming ability,etc.and can accurately control ROV to complete the set motions.

关 键 词：小型水下机器人 模糊PID 运动控制 水下试验 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]