摘要
针对深海自持式智能浮标运动模型非线性、强耦合性的特点,提出了一种基于双闭环反馈回路的模糊比例—积分—微分(proportion-integral-derivative, PID)定深控制器.根据浮标的浮力调节机构,分析了浮标的运动过程,建立了非线性运动方程.针对外环深度反馈回路,设计了模糊控制器.基于内环速度反馈回路与模糊控制器,设计了联级模糊PID定深控制器.传统PID定深控制器超调量5.6%,最终在目标深度±30 m范围内震荡,而双闭环模糊PID定深控制器在相同的上升时间内,超调量2.0%,深度误差控制在1.0%以内.存在外界扰动的情况下,通过双闭环模糊PID定深控制器的调节,浮标仍可以稳定在目标深度内.仿真结果表明,所建立的双闭环模糊PID定深控制系统具有良好的控制效果和稳定性.
Considering the nonlinear and strong coupling characteristics of the motion model of a deep-sea self-holding intelligent buoy,we propose a fuzzy proportion-integral-derivative(PID)controller based on a dual closed-loop to control the buoy’s depth.According to the buoyancy regulation system,we establish a nonlinear dynamic model based on the motion analysis of the buoy.We design a fuzzy controller for the outer deep feedback loop,and then we design a cascade fuzzy PID controller for deep-sea self-holding profile buoy according to the inner speed feedback loop and the fuzzy controller.The overshoot of the traditional PID depth controller is 5.6%,and it will eventually oscillate within a depth of±30 meters.Compared with traditional PID depth controllers,within the same rise time,the overshoot of the fuzzy PID controller is 2.0%,and the depth error is within 1.0%.In the presence of external disturbances,the buoy can still be stabilized within the target depth by adjusting the dual closed-loop fuzzy PID depth controller.Simulation results demonstrate that the dual closed-loop fuzzy PID depth controller has better depth control ability and stability.
作者
张惠琳
李醒飞
杨少波
徐佳毅
李洪宇
王强
ZHANG Huilin;LI Xingfei;YANG Shaobo;XU Jiayi;LI Hongyu;WANG Qiang(State Key Laboratory of Precision Measurement Technology and Instruments,Tianjin University,Tianjin 300072,China;Pilot National Laboratory for Marine Science and Technology(Qingdao),Qingdao 266237,China;Qingdao Institute for Marine Technology of Tianjin University,Qingdao 266237,China;School of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao 266590,China)
出处
《信息与控制》
CSCD
北大核心
2019年第2期202-208,216,共8页
Information and Control
基金
国家自然科学基金资助项目(61503283)
青岛海洋科学与技术国家实验室问海计划项目(ZR2016WH01)
海洋高端装备配套技术及装备产业创新孵化基地子任务(BHSF2017-27)
天津市自然科学基金资助项目(重点项目)(16JCZDJC30100)
关键词
深海自持式智能浮标
定深控制
双闭环
模糊PID控制
deep-sea self-holding intelligent buoy
depth control
dual closed-loop
fuzzy PID control