水下柔性驱动小车受限运动控制研究

Study on Confined Motion Control of Flexible Driven Underwater Vehicle

针对一种水下柔性驱动轮式小车进行了小车在水下受限空间中的运动控制研究,在特定控制任务的要求下,提出了一种基于F+PID模糊切换控制的复合速度控制策略。该策略利用模糊控制方法,克服柔性牵引机构及液压系统中存在的柔性变负载、参数时变以及滞后非线性等难点,同时结合常规PID算法进行切换控制,消除了系统静差及盲区,弥补了模糊控制方法中存在的稳态精度不高的缺陷。另外,针对小车稳定运行阶段出现的冲击变负载,增加冲击补偿控制,有效削弱了小车速度抖振,提高了鲁棒性。全数字仿真及半实物仿真结果表明了该方法的可行性。

In this paper, a motion control research is conducted on a flexible driven underwater wheeled vehicle in confined water space. Under the requirements of specific control task, a combined speed control strategy based on F＋PID fuzzy control method is proposed. The strategy adopts the fuzzy control method to overcome the difficulties of flexible variable load, time varying parameters, and hysteresis nonlinearity. Meanwhile, the conventional PID algorithm is used for switching control, which eliminates the system static error and blind area, and makes up for the drawbacks of low steady state accuracy in the fuzzy control method. In addition, in light of the impact variable load in the stable operation stage of the vehicle, the impact compensation control is added, which effectively weakens the chattering phenomenon of the vehicle and improves the robustness of the system. The feasibility of the strategy is verified by all digital simulation semi physical simulation.