摘要
主要讨论基于图形化编程语言(Labview)的PID控制算法在小型水下机器人中的应用。利用PID算法对小型水下机器人的航向角和深度进行控制,从而提高其稳定性。实验表明,通过PID算法对机器人运动的控制,能实现水下机器人对目标进行锁定观测。通过本文的控制方案,不但简化了控制系统,同时也大大改善了小型水下机器人的工作性能,从而使其能适应较复杂的工作环境。
The control of the mini underwater robot with PID algorithm based on the graphic computer language （G language） is presented . The course and depth of the underwater robot is controlled by the PID algorithm so that its stability ean be enhaneed. The experiment indieates that the robot can observe the object exactly by locking its course. On the other hand, the depth of the robot is also controlled by PID algorithm so that it can work at given depth steadily. Thereby, the performanee of the robot will be improved by this controlled method and it can work at some complex circumstances.
出处
《中国舰船研究》
2008年第1期65-67,72,共4页
Chinese Journal of Ship Research
基金
广东省交通厅科技项目(2007-33)
