非线性PID控制器在潜艇深度控制中的应用

The application of nonlinear PID controller in the submarine depth control

基于潜艇垂直面非线性运动模型,模拟波浪干扰力和瞬间干扰力情况下潜艇的操纵运动;利用非线性PID控制技术、状态扩张技术(ESO),对潜艇深度变换进行控制,仿真表明,无论深度差异多大,控制器都能使得潜艇实现快速且零超调的深度变换控制。

Based on the submarine vertical plant of nonlinear model, mock the submarine motion in the flounce of wave force and instantaneous disturbance Using nonlinear PID control and ESO technology control the submarine depth. Benefit on this technology it shows that this controller can achieve faster and zero overshoot compared with common PID controller in submarine depth variation, whatever how much the variation is.