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针对深海水下机器人(ROV)处于深海环境中受到外界干扰的伺服控制这一问题,首先建立推进器推力分配结构,推导得出作用在ROV本体上相应的实际推力;然后依据PID原理和模糊规则,构造模糊PID控制器,实现ROV消除外界干扰恢复静止稳定状态的伺服控制;最后通过仿真实验表明了所构造的模糊PID控制具有较好的动态性能和稳态性能,显示出良好的伺服控制性能.
Aiming at the servo control problem of deep sea underwater robot (ROV) in the deep sea environment, the thruster thrust distribution structure is established and the corresponding actual thrust acting on the ROV body is deduced. Based on the PID principle and the fuzzy rule , The fuzzy PID controller is constructed to realize the servo control of ROV to eliminate the external disturbances and restore the stationary steady state. Finally, the simulation results show that the fuzzy PID control has good dynamic performance and steady-state performance, and shows good servo control performance .