基于PID算法的水中机器鱼方向档位控制方法

Control Method of Underwater Robot Fish Direction Gears Based on PID Algorithm

为了找到机器鱼在游动过程中每一时刻适应当前速度的最佳方向档位,笔者基于PID算法,提出了一种水中机器鱼方向档位的控制方法。分析PID控制原理,将其用于水中机器鱼方向档位的控制,设计出了适合机器鱼顶水球模型的PD算法,并给出了具体的实现方法和调试思路。实验结果表明:该算法有效地弥补了以往参赛者使用的算法中的不足,可以使机器鱼快速稳定地调整方向位姿,在实际应用中表现出了良好的带球游动性能。

In order to find the most appropriate direction gear control for all the swimming robot-fishes＇ speeds, the writer introduces an underwater robot fish direction gear control system based on PID algorithm theory. Analyze PID control principle and use it in underwater robot fish direction gear control, design PD algorithm for robot fish heading model, and give the application method and debug thoughts. The test results show that the algorithm can compensate the disadvantages of racer uses the tradition algorithm, the robot fish can debug direction and gesture rapidly and stably. The robot fish can freely swim in the water with the ball on its nose.