| 基于Fuzzy—PID的UUV姿态控制器研究 |
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| 引用本文： | 周冉辉,万立.基于Fuzzy—PID的UUV姿态控制器研究[J].舰船电子工程,2011,31(12):83-85. |
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| 作者姓名： | 周冉辉 万立 |
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| 作者单位： | 华中科技大学机械科学与工程学院,武汉,430074 |
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| 摘 要： | 结合UUV航行中动力特性变化较大的特点，研究并提出了一种Fuzzy-PID控制器的设计。该控制器把Fuzzy控制和传统的PID控制有机地结合起来，实现了对控制系统的参数自整定。给出了UUV纵向姿态运动数学模型和仿真试验设计。仿真结果表明，这种Fuzzy-PID控制效果优于单纯的PID控制方式，特别对变参数系统具有较强的鲁棒性。
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| 关 键 词： | Fuzzy-PID控制 姿态控制器 UUV |
Research on UUV Attitude Controller Based on Fuzzy-PID |
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| Zhou Ranhui Wan Li.Research on UUV Attitude Controller Based on Fuzzy-PID[J].Ship Electronic Engineering,2011,31(12):83-85. |
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| Authors: | Zhou Ranhui Wan Li |
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| Institution: | Zhou Ranhui Wan Li(Mechanical Science & Engineering Academy,Huazhong University of Science and Technology,Wuhan 430074) |
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| Abstract: | Dynamic characteristics with changes in the UUV navigation features has been studied and a Fuzzy-PID controller design was proposed.Fuzzy control of the controller and the conventional PID control organically combined to realize the control system parameter self-tuning.Longitudinal profile sports UUV mathematical model and simulation design was given.Simulation results show that the Fuzzy-PID control is better than the simple PID control,especially for systems with varying parameters is robust. |
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| Keywords: | Fuzzy-PID control attitude controller UUV |
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