基于遗传算法整定PID的自主潜器深度控制

PID Controller Based On GA For AUV Depth Control

研究设计了一个基于遗传算法(GA)整定的PID控制器来解决传统的PID控制器参数选择不合适的问题,并将其应用到自主潜器(AUV)的深度控制系统中。建立了AUV深度控制数学模型,并对方程进行了线性化处理,得到了AUV的深度控制设计模型。基于遗传算法整定PID参数的方法为AUV设计了深度控制器,并将该控制器应用深度控制系统进行了仿真实验,仿真结果表明该控制器能够提高AUV深度控制系统的控制品质。

A GA based on PID is developed for the depth control of an autonomous underwater vehicle（AUV）to optimize the parameters of PID controller which are often not fit in conventional PID controller.The equations of the AUV motions for depth control are established, and they arc linealized to suit for the controller design. A PID eontroller for the AUV depth control system is designed based on GA, and its application to the AUV depth control system is simulated by computer.The simulation results show that the oontroller makes much contribution to the performance improvement of the AUV depth control system.