水下密闭容器压力非线性PID跟踪控制方法及仿真研究

Nonlinear PID Control Method and Simulation of Pressure Tracking in a Underwater Airtight Container

对水下密闭容器压力跟踪控制系统进行理论分析,将一种根据偏差实时修正参数的非线性PID控制方法应用到该控制系统,在AMESim软件中建立控制对象仿真模型,在Matlab/Simulink模块中建立非线性PID控制算法的模型。联合仿真结果表明,系统控制精度高,响应快,避免了传统PID快速性和超调性之间的矛盾,不同信号作用下的跟踪曲线也表明,该控制方法用于水下密闭容器压力跟踪控制时具有良好的抗干扰性。

The theory of pressure tracking control system about a underwater airtight container is analyzed in this paper.A kind of nonlinear PID control method,which corrects parameters timely according to deviation,is applied in the control system.The simulation model of control object is built in the software AMESim,and the nonlinear PID control algorithm is built in Matlab/Simulink.Co-simulation results show that the system has high accuracy and fast response,avoids the contradictions between overshoot and fast which traditional PID control has.The tracking curves in the effect of different signals also show that disturbance rejection property is well when this control method is used in pressure tracking control about a underwater airtight container