摘要
研究了AUV舵机的模糊P ID控制问题。针对传统模糊P ID控制存在量化误差和调节死区,稳态精度较差的缺陷,提出了基于变论域思想的模糊P ID控制新策略,设计了自主水下航行器(AUV)的舵机控制器,给出了模糊P ID控制S IMUL INK仿真图。仿真结果表明,舵机控制系统的快速性、稳定性、稳态精度等指标都得到了改善,从本质上消除传统模糊P ID控制存在的稳态误差和稳态颤振现象,验证了该方法的正确性和可行性。
This paper addresses the problem of Fuzzy-PID control of AUV. By using a new kind of Fuzzy-PID controller based on the idea of variable universe is designed to realize fast reaction, no overshooting, almost no shock and high precision. Meantime, the simulink diagram of simulation is presented. Finally, simulation results show that the dynamic celerity, static stability,steady precision of the rudder control system are improved relative to the tradition PID control method. The correctness and feasibility of this method is also proved.
出处
《火力与指挥控制》
CSCD
北大核心
2009年第12期163-165,共3页
Fire Control & Command Control
作者简介
王迪（1983-），男，辽宁凌海人，在读硕士研究生，研究方向：自主水下航行器控制。
