现代电子技术
現代電子技術
현대전자기술
MODERN ELECTRONICS TECHNIQUE
2015年
1期
100-102
,共3页
水下航行器%横向滚动控制%灰色PID控制%姿态控制
水下航行器%橫嚮滾動控製%灰色PID控製%姿態控製
수하항행기%횡향곤동공제%회색PID공제%자태공제
underwater vehicle%roll control%gray PID control%attitude control
针对AUV航行环境复杂、模型参数摄动大、执行机构的饱和非线性等特点，采用灰色预测算法改进传统的AUV PID横滚姿态控制器，设计了灰色PID控制算法，以达到抑制和消除横滚的目的。仿真结果表明，灰色预测PID算法操舵平滑，控制速度快，鲁棒性和环境适应能力更好，完全能胜任AUV横滚姿态控制的要求。
針對AUV航行環境複雜、模型參數攝動大、執行機構的飽和非線性等特點，採用灰色預測算法改進傳統的AUV PID橫滾姿態控製器，設計瞭灰色PID控製算法，以達到抑製和消除橫滾的目的。倣真結果錶明，灰色預測PID算法操舵平滑，控製速度快，魯棒性和環境適應能力更好，完全能勝任AUV橫滾姿態控製的要求。
침대AUV항행배경복잡、모형삼수섭동대、집행궤구적포화비선성등특점，채용회색예측산법개진전통적AUV PID횡곤자태공제기，설계료회색PID공제산법，이체도억제화소제횡곤적목적。방진결과표명，회색예측PID산법조타평활，공제속도쾌，로봉성화배경괄응능력경호，완전능성임AUV횡곤자태공제적요구。
According to the characteristics of navigation environment complexity,model parameter perturbation, execu?tion mechanism nonlinear saturation of autonomous underwater vehicle(AUV),the traditional AUV PID roll attitude controller was improved by means of grey prediction algorithm,and a grey PID control algorithm was designed to inhibit and eliminate AUV roll. The simulation results show that the grey prediction PID algorithm has smooth steering control,fast speed con?trol,better robustness and adaptive capacity to the environment. it is fully qualified to AUV roll attitude control.
