基于PID的ROV运动控制仿真
DOI:
作者:
作者单位:

江苏科技大学 船舶与海洋工程学院

作者简介:

通讯作者:

中图分类号:

U674.941

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)。


Simulation Research of ROV Motion Control Based on PID
Author:
Affiliation:

1.School of Naval Architecture and Ocean Engineering,Jiangsu University of Science and Technology,Zhenjiang,212003;2.Jiangsu,China

Fund Project:

  • 摘要
  • |
  • 图/表
  • |
  • 访问统计
  • |
  • 参考文献
  • |
  • 相似文献
  • |
  • 引证文献
  • |
  • 资源附件
  • |
  • 文章评论
    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PID(Proportion Integral Differential)即比例积分微分控制法,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,相比传统PID控制,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,能够有效的实现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. Established control models of different ROV motions, considered the influence of transfer function of motor and ducted propeller on ROV control system, determined the closed-loop transfer function of heading and depth control system, combined with fuzzy control and PID control method, a fuzzy PID controller was obtained. Based on MATLAB/Simulink environment, ROV depth motion simulation and ROV horizontal heading Angle motion simulation were carried out. The results show that compared with the traditional PID control, the fuzzy PID control has a better ROV heading and depth control effect with almost no overshoot. It has obvious advantages in anti-interference ability and response speed, and can effectively realize ROV heading and depth control.

    参考文献
    相似文献
    引证文献
引用本文
分享
文章指标
  • 点击次数:
  • 下载次数:
  • HTML阅读次数:
  • 引用次数:
历史
  • 收稿日期:2022-04-11
  • 最后修改日期:2022-05-07
  • 录用日期:2022-05-11
  • 在线发布日期:
  • 出版日期: