深海自持式智能浮标双闭环模糊PID定深控制

Dual Closed-loop Fuzzy PID Depth Control for Deep-sea Self-holding Intelligent Buoy

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.