ROV推进器非线性控制研究

Research on ROV Thruster Nonlinear Control

ROV(Remote Operated Vehicle)的动力是通过推进器电机转动螺旋桨提供,针对ROV在水下环境工作过程中频繁启停、功率不足、遇到未知干扰等问题,导致推进器设定输出推力与实际输出推力有很大的差异,严重影响了ROV在水下的运动,因此需要对ROV推进器控制性能改善提升。然而常规的PID控制已经难以满足复杂、时变、非线性的控制系统,为此提出了一种非线性控制系统,即引入模糊控制算法并结合PID控制,实现对ROV推进器的控制。为验证该研究对ROV推进器控制有效性,即通过仿真软件对推进器非线性控制系统进行实验。经过仿真实验结果的分析可知,该非线性控制系统不但能快速自整定PID参数,而且还明显降低了推进器转速超调量,使ROV推进器的控制性能得到了显著改善。

The power of the ROV(remote operated vehicle)is provided by the propeller motor turning the propeller,which is aimed at the problems of frequent start and stop of the ROV during the operation of the underwater environment,insufficient power,and encountering unknown interference,the set output thrust of the thruster differs greatly from the actual output thrust,which seriously affects the movement of ROV underwater.Therefore,the control performance of the ROV thruster needs to be improved.However,conventional PID control is no longer sufficient for complex,time-varying,non-linear control systems.In response,this proposes a non-linear control system that introduces a fuzzy control algorithm and combines it with PID control to achieve control of the ROV thruster.To verify the effectiveness of this study on the control of the ROV thruster,the non-linear control system of the thruster is experimented with by the simulation software.The analysis of the simulation results shows that the non-linear control system not only quickly self-tunes the PID parameters,but also significantly reduces the thruster speed overshoot,resulting in a significant improvement in the control performance of the ROV thruster.