基于模糊PD-PI方法的ROV艏向控制系统设计

DESIGN OF HEADING CONTROL SYSTEM OF ROV BASED ON FUZZY PD-PI ALGORITHM

为提高ROV艏向控制过程的性能指标,提出一种艏向控制方法。建立ROV艏向控制系统,并推导出转艏运动的动力学模型;将整个艏向控制过程规划为稳态阶段和瞬态阶段,分别采用不完全微分PD控制和PI控制以满足不同阶段的工作需求,两种工作阶段采用模糊控制划分,按各自隶属程度将局部控制量合成为全局控制量,并根据劳斯判据说明控制系统的稳定性条件。在MATLAB中对艏向控制效果进行仿真验证,结果表明,该方法比常规PID控制具有更短的过渡时间及更强的抗干扰能力,是一种高效ROV艏向控制的方式。

To improve the performance of ROV heading control,we proposed a heading control method.We established the ROV heading control system and deduced the dynamic model of the heading motion.The whole heading control process was programmed into steady stage and transient stage.The incomplete differential PD control and PI control were used to meet the working requirements of different stages respectively.The two stages were divided by fuzzy control,and the local control variables were combined into global control variables according to their respective membership degrees.The stability condition of the control system was explained according to the Routh criterion.The heading control effect was simulated and verified in MATLAB.The simulation results show that the proposed control method has shorter transition time and stronger anti-disturbance ability than conventional PID control,which is an efficient ROV heading control method.