摘要
针对矢量推进方式下的水下航行器操纵特点,研究了采用模糊PID算法设计了水下航行器的模糊PID控制器,并以偏航角控制为例,进行了仿真研究。仿真结果表明采用模糊PID算法所设计的运动控制器,可以完成矢量喷水推进水下航行器的运动控制任务要求。
Aiming at the control characteristics of underwater vehicle in vector propulsion mode,the fuzzy PID controller of underwater vehicle is designed by using the fuzzy PID algorithm,and the yaw angle control is simulated. The simulation results show that the motion controller designed by using the fuzzy PID algorithm can fulfill the motion control task of the underwater vehicle with vector water jet propulsion.
作者
陈路伟
CHEN Luwei(Unit 94,No.91388 Troops of PLA,Zhanjiang 524022)
出处
《舰船电子工程》
2020年第1期184-188,共5页
Ship Electronic Engineering
关键词
自主水下航行器
矢量推进技术
模糊PID
autonomus underwater vehicle
vectored thruster techniques
fuzzy PID
