模糊控制在AUV舵机控制系统中的应用

研究了AUV舵机的模糊PID控制问题.针对传统模糊PID控制存在量化误差和调节死区,稳态精度较差的缺陷,提出了基于变论域思想的模糊PID控制新策略,设计了自主水下航行器(AUV)的舵机控制器,给出了模糊PID控制SIMULINK仿真图.仿真结果表明,舵机控制系统的快速性、稳定性、稳态精度等指标都得到了改善,从本质上消除传统模糊PID控制存在的稳态误差和稳态颤振现象,验证了该方法的正确性和可行性.

Fuzzy-PID Control for the Rudder Control System of AUV

This paper addresses the problem of Fuzzy-PID control of AUV. By using a new kind of Fuzzy-PID controller based on the idea of variable universe is designed to realize fast reaction,no overshooting,almost no shock and high precision. Meantime, the simulink diagram of simulation is presented. Finally, simulation results show that the dynamic celerity, static stability,steady precision of the rudder control system are improved relative to the tradition PID control method.The correctness and feasibility of this method is also proved.