基于奇异摄动法的水下机器人优化PID控制

Optimize PID Control of Underwater Robot Based on Singular Perturbation Method

为了提高水下机器人位置控制的精确性,降低因系统耦合而造成的位置误差,提出了针对六自由度水下机器人的奇异摄动系统建模及控制方法。首先对水下机器人的姿态和位置进行动力学建模,将速度、角速度作为快变量,位置、姿态作为慢变量,从而把模型转换为奇异摄动系统模型,再对奇异摄动系统模型进行快慢分解,对快慢系统分别设计PID控制律,最终复合得到改进的PID优化控制方法。最后以仿真算例说明,提出的基于奇异摄动技术的PID优化控制方法的可行性和有效性。

In order to improve the accuracy of the position control of the underwater robot and reduce the position error caused by the system coupling, this paper proposed a modeling and control method for the singular perturbation system of the six-degree-of-freedom underwater robot. First, the attitude and position of the underwater robot were dynamically modeled, with speed and angular velocity as fast variables and position and attitude as slow variables, so that the model was converted into a singularly perturbed system. Then, the fast and slow decomposition of the singularly perturbed system model was performed, and the PID control laws were designed for the fast and slow systems respectively. Finally, the improved PID combination control method was obtained. In the end, a simulation example was used to illustrate the feasibility and effectiveness of the PID combination control method based on singular perturbation technology proposed.