海流干扰下网衣清洗机器人控制方法研究

Research on Control Method of Net Clothing Cleaning Robot Under Ocean Current Disturbance

在中国海洋渔业中,网衣清洗机器人对网箱养殖有害物附着的清洗具有重要作用。为了提高网衣清洗机器人在海流干扰下工作的稳定性,本文根据网衣清洗机器人的工作特点,提出了采用串级-前馈比例积分微分(PID)控制方法对海流干扰下的网衣清洗机器人进行控制,通过仿真实验证明该方法是可行的。为进一步提高控制效果,在串级-前馈PID控制的基础上加入模糊控制,仿真结果表明,改进后的控制器一定程度上减少了网衣清洗机器人运动稳定时间和超调量。

In China's marine fishery,the net cleaning robot plays an important role in the cleaning of the attachment of harmful substances in cage culture.During the cleaning process,the net cleaning robot will be unstable due to the interference of ocean current,which will seriously affect the cleaning effect.In view of the above situation,considering the working characteristics of the net cleaning robot,this paper proposes to use the cascade-feedforward PID control method to control the net cleaning robot under the interference of ocean current,and the simulation experiment proves that the method is feasible.In order to further improve the control effect,fuzzy control is added on the basis of cascade-feedforward PID control,and the simulation results show that the improved controller reduces the motion stability time and overshoot of the net cleaning robot to a certain extent.