基于模糊自适应PID的水下某型拖带绞车张力控制方法研究

为保证某型水下绞车设备在进行潜水拖带作业时被拖带设备速度平稳，要求缆绳张力大小适度且稳定，为此，将模糊自适应PID控制器应用于张力控制系统，并采用磁粉制动器作为执行部件，在建立张力控制数学模型的基础上，对控制器的结构和控制规则进行分析。利用MATLAB对系统进行仿真，证明该方法既满足水下绞车对缆绳张力的要求，又具有快速响应、超调小的优点。

Research of Tension Control of Diving Winch on Fuzzy Self-adaptive PID

In the course of diving winch machine working, the tension of rope should be controlled strictly for stable speed. The fuzzy self-adaptive PID controller was applied to the tension control system and the magnetic powder brake was used as the executive component. On the basis of mathematics model of tension control system founded, structure and controlling rules of PID controller was analyzed. The process simulation was completed in Matlab, which proved that the method satisfied the request of moderate and constant tension, and the system has the advantages of rapid detection and response, with small overshoot and steady-state error.