水下潜器姿态角的分数阶 PID 控制研究

针对水下潜器纵向姿态角控制的稳定性问题，对水下潜器的姿态角控制系统设计一种分数阶 PID 控制器。在控制器设计过程中，引入时间误差绝对值（ITAE）准则，ITAE 准则的引入可快速获得分数阶 PID 的优化参数，设计优化分数阶 PID 控制器。最后，以水下潜器的传递函数为仿真对象，分别采用分数阶 PID 控制器和常规PID 控制器进行仿真研究。通过控制性能比较发现，本文所提出的分数阶 PID 控制器的控制效果明显优于常规 PID控制器，且分数阶 PID 控制器具有更强的鲁棒性。

Research on fractional-order PID control for underwater vehicle attitude angle

Aiming at the stability problem of the control of underwater vehicle longitudinal attitude angel, a Fractional-Order Proportional Integral Derivative (FOPID) controller is presented for underwater vehicle attitude angel control system. While designing the FOPID controller, the integrated product of time and absolute error standard (ITAE) is adopted to fast optimize the parameters of FOPID controller. Finally, the transfer function of underwater vehicle is chosen as the subject in-vestigated, and simulation experiments of FOPID and classical PID controllers are carried out. By comparing the control per-formance of the two different controllers, the FOPID controller presented has more satisfactory performance and stronger ro-bustness.