水下自航器航迹控制系统仿真研究

Simulation Research on Underwater Self running Vehicle Trajectory Nonlinear PID Control System

该文提出了一种带优化修正函数的非线性ＰＩＤ控制器设计方法，用它设计的控制器能对复杂非线性对象进行简单而有效的控制。用它为某型自航器设计的航迹控制器在不同入水条件下进行了仿真研究。仿真结果表明，用带优化修正函数的非线性ＰＩＤ控制器设计方法设计的自航器航迹控制系统，在不同入水条件下都具有良好的动、静态特性。说明非线性ＰＩＤ控制方案较好地解决了空投入水自航器的航迹控制问题。

In this paper, a new design method of nonlinear PID controller with optimal correction function is presented. It can solve the control problem of a complicated nonlinear plant simply and effectively. Using this method, a trajectory nonlinear PID control system is designed for a underwater self running vehicle with serious nonlinearity and system simulation works are done under different conditions. The simulation results show that the designed self running vehicle trajectory nonlinear PID control system possesses better dynamic and static properties. This illustrates that this nonlinear PID control scheme can solve the trajectory control problem of underwater self running vehicle effectively.