基于变论域模糊PID的AUV靶标运动追踪控制

AUV Target Motion Tracking Control Based on Variable Universe Fuzzy PID

针对AUV靶标系统运动追踪响应速度慢、控制精度低的问题,提出将变论域模糊PID的控制算法应用于AUV靶标瞄准系统上。通过模拟AUV在海中航行受到的力,建立了AUV动力学模型,将变论域思想结合模糊PID引入AUV靶标瞄准运动追踪控制系统,设计了基于变论域模糊PID控制算法的控制器。利用MATLAB搭建变论域模糊PID、常规模糊PID、传统PID控制系统模型,在3种姿态控制系统模型下,对航行器运动追踪的控制效果进行仿真与分析。结果显示,变论域模糊PID在AUV靶标控制上具有超调量小、响应速度快、动态响应能力强、控制精准度高的优点。

Aiming at the problems of slow response speed and low control accuracy of AUV target system motion tracking,a variable universe fuzzy PID control algorithm is proposed to be applied to the AUV target aiming system.A dynamic model of AUV was established by simulating the forces it experiences during sea navigation.The concept of variable universe fuzzy PID was introduced into the AUV target aiming motion tracking control system,and a controller based on the variable domain fuzzy PID control algorithm was designed.Using MATLAB to build variable universe fuzzy PID,conventional fuzzy PID,and traditional PID control system models,simulate and analyze the control effect of vehicle motion tracking under three attitude control system models.The results show that the variable universe fuzzy PID has the advantages of small overshoot,fast response speed,strong dynamic response ability,and high control accuracy in AUV target control.