摘要
针对观察型水下机器人在水下运动时易受暗流、波浪影响,造成操控困难、系统稳定性差等问题,建立遥控水下机器人(Remotely Operated Vehicle,ROV)不同运动的控制模型,考虑电机和导管螺旋桨推进器的传递函数对ROV控制系统的影响,确定定艏向和定深控制系统的闭环传递函数,结合模糊控制和比例积分微分(Proportional Integral Differential,PID)控制法,得到模糊PID控制器,基于MATLAB/Simulink环境进行ROV定深度运动仿真和ROV水平面艏向定偏角运动仿真.结果表明,与传统PID控制相比,模糊PID控制具有更优的ROV定艏向和定深度控制效果,不会发生超调现象,在抗干扰能力和响应速度方面具有明显的优势,可有效地实现ROV定艏向和定深度运动控制.
Abstract
Aiming at the problems that the observation underwater vehicle is easily affected by undercurrent and wave when moving underwater,it is difficult to operate and the system stability is poor,the control models of different Remotely Operated Vehicle(ROV)motions are established.The influence of transfer function of motor and ducted propeller on ROV control system is considered,the closed-loop transfer function of heading and depth control system is determined,and combined with fuzzy control and Proportional Integral Differential(PID)control method,a fuzzy PID controller is obtained.Based on MATLAB/Simulink environment,ROV depth motion simulation and ROV horizontal heading angle motion simulation are carried out.The results show that compared with the traditional PID control,the fuzzy PID control is of a better ROV heading and depth control effect with almost no overshoot.It is of obvious advantages in anti-interference ability and response speed,and can effectively realize ROV heading and depth control.
基金项目
国家自然科学基金资助项目(51809126)
江苏省自然科学基金资助项目(BK20181468)
维普
万方数据