开架式观测型ROV定点悬停控制方法研究

Control Method for Fixed Point Hovering of Open-shelf Observational ROV

定点悬停能力是水下机器人重要的控制性能之一。水下机器人在水下运动时常受到波浪和海流等影响,使常规运动控制方法存在稳定性差的问题,需要一种抗干扰能力强和适应性好的运动控制方法。针对设计的ROV和工作要求,分别设计了传统PID控制器、模糊控制器和模糊PID控制器,并通过仿真分析对比了在海流和波浪等干扰的条件下各控制器的动态性能。试验结果表明:在定点悬停控制中,PID控制器适应能力差,抗干扰能力弱,对环境变化敏感;模糊控制器在复杂环境中具有良好的响应特性和抗干扰能力,但存在稳态误差,无法实现精准控制;模糊PID综合了两者的优势,既提高了PID控制器的响应速度和抗干扰能力,又弥补了模糊控制存在稳态误差的缺点,但抗干扰性能还是远不及模糊控制器。因此,当控制精度要求不是很高时,建议使用模糊控制器更好,当需要精准控制且控制误差在允许范围内时,建议使用模糊PID控制器。研究成果对水下机器人工程实践指导具有重要意义。

Fixed-point hovering capability is one of the important control performances of underwater ROV. During underwater motion, ROV is often affected by waves and currents, which makes the conventional motion control unstable. A motion control method with strong anti-interference ability and good adaptability is needed. According to the designed ROV and working requirements, the traditional PID controller, fuzzy controller and fuzzy PID controller are designed. The dynamic performance of each controller under the conditions of sea current, wave and other disturbances is compared by simulation analysis. The test results show that in the fixed-point hovering control, the PID controller has poor adaptability and weak anti-interference ability and is sensitive to environmental changes. The fuzzy controller has good response characteristics and anti-interference ability in complex environments, but has steady state error that cannot achieve precise control. The fuzzy PID combines the advantages of both, which not only improves the response speed and anti-interference ability of the PID controller, but also overcomes the shortcomings of the fuzzy control with steady-state error. However, the anti-interference performance is far less than fuzzy controller. When the control accuracy requirement is not very high, a fuzzy controller is proposed. It is recommended to use a fuzzy PID controller when precise control is required and the control error is within the allowable range. The research results are of great guiding significance to the engineering practice of underwater ROV.