CAJ | 학술논문

水下输送艇是一种在水下长距离运输人员的载人潜水器，具长有航程和高航速的特点，控制对象具有高度非线性、强耦合和时变性的特点，常规P ID控制器的控制效果不是十分理想。论文针对水下输送艇的研制，将变论域模糊控制和PID控制结合起来，设计了变论域模糊PID控制器，模糊论域可以根据输入输出量的变化进行伸缩，对PID参数进行更优化的在线调整。论文建立了水下输送艇的水平面和垂直面运动数学模型，介绍了变论域模糊 PID控制器的设计方法和伸缩因子的选择方法。M atlab仿真结果表明这种控制方法具有更强的自适应能力。
수하수송정시일충재수하장거리운수인원적재인잠수기，구장유항정화고항속적특점，공제대상구유고도비선성、강우합화시변성적특점，상규P ID공제기적공제효과불시십분이상。논문침대수하수송정적연제，장변론역모호공제화PID공제결합기래，설계료변론역모호PID공제기，모호론역가이근거수입수출량적변화진행신축，대PID삼수진행경우화적재선조정。논문건립료수하수송정적수평면화수직면운동수학모형，개소료변론역모호 PID공제기적설계방법화신축인자적선택방법。M atlab방진결과표명저충공제방법구유경강적자괄응능력。
An underwater conveyor is a HOV ,conveying several persons under water .It has the features of long sailing distance and high speed .The plant is non-linear ,strong coupling and time-varying .And the controlling effect of general PID controller is not so satisfactory .According to the development of an Underwater Conveyor ,the variable universe fuzzy con-trol with PID control ,a variable universe fuzzy PID controller is designed .Its fuzzy universe can be expanded or contracted , which can tune the PID parameters more better .In the paper ,the mathematics models of motion in horizontal and vertical plane are established ,and the method of controller design and choosing a flexible factor are introduced .The simulating result of Matlab indicates that this control method has better adaptive ability .