摘要
水下航行器的操纵控制是较难控制的系统,其非线性强,惯性大,模型不确定。传统PID控制已经不能适应这种复杂对象的控制。模糊控制引入了人的思维及专家的经验,能够很好的弥补PID控制的不足。本文研究的Fuzzy PI+Fuzzy ID型控制器结合了PID控制与模糊控制的优点,它根据误差的变化实时调整PID的参数,以达到良好的控制效果。仿真试验表明,Fuzzy PI+Fuzzy ID型控制器反应速度快,超调量小,过渡时间短,鲁棒性好,可以适用于水下航行器的操纵控制。
The maneuvering of UUV is complex and it is difficult to be controlled with its strong nonlinear, big inertia and model uncertainty. Conventional PID control is not adaptive to the control of the complex object. Fuzzy control introduces human thinking and expert experience to make up the disadvantage of PID control. The Fuzzy PI＋ Fuzzy ID controller combines the virtue of both PID control and Fuzzy control, which adjust the parameters of PID control according to the error to get better control result. The simulation results show that Fuzzy PI＋ Fuzzy ID controller reacts quickly, its overshoot is small transition time is short, robust is good and it is adaptive to the control of the maneuver control of UUV.
出处
《船电技术》
2013年第11期4-7,共4页
Marine Electric & Electronic Engineering
