水面机器人横摇模型及减摇控制

Rolling model of surface vehicle and its stabilizing control

为解决水面机器人近水面低航速时的横摇控制问题,基于零航速减摇鳍工作原理和模糊控制理论,建立水平面运动模型解耦后的等价横摇模型并对其进行降阶处理,采用模糊PID控制策略,该方法对多变海情具有较强鲁棒性.仿真结果表明,模糊PID控制对水面机器人的横摇具有明显的控制效果,模型的解耦方法便于水面机器人横摇控制器设计.

To solve the roll control problem of autonomous underwater vehicle（AUV） at low speed near the water surface,an equivalent rolling model was established through decoupling horizontal plane model and then reducing it into a lower order model based on the principle of zero-speed-fin stabilizer and fuzzy control theory.Fuzzy PID control strategy was used,which has better robustness under variable sea conditions.Simulation results show that the fuzzy PID control has obvious effect on roll motion control,and the decoupling method is convenient for roll controller design.