基于模糊自适应PID的潜艇深度控制

针对潜艇水下空间运动非线性、参数时变和强耦合的特点,以六自由度方程为模型,设计了基于模糊自适应PID的深度控制系统,并引入积分分离控制,解决了深度控制存在偏差大幅度变化而不易使用积分控制的问题;通过仿真实验证明了该系统的可行性和优越性。实验结果表明,该控制方法相对于常规PID控制,能有效地提高潜艇深度控制的动态性能,控制精度和抗干扰能力,同时减小了舵机的耗损。

Depth control of submarine based on fuzzy adaptive PID

A depth controller based on fuzzy adaptive PID was designed for the characteristics of nonlinearity,time-varying parameters and strong coupling effect during submarine's space motion underwater.And the introduction of integral separation control,solved the problem that error changed range is too great to use integral item in depth control.The feasibility and superiority of the controller was proved by simulation on submarine model founded by six degrees of freedom equation.The results show that comparing wi...