为了解决水下滑翔机的控制问题，设计了尾部四螺旋桨来控制滑翔机的俯仰和转向，对水下滑翔机进行运动学和动力学建模，并在其基础上设计了PID控制器。通过Matlab/Simulink仿真和湖试对所设计的PID控制器的有效性进行验证。仿真结果表明在所设计的PID参数下，控制器能够有效地完成水下滑翔机自稳定控制。湖试结果与仿真结果相比较，可以得出设计的PID控制器参数选取合理，能够快速准确地实现姿态的调节。
In order to solve the problem of underwater glider control, the tail four-propeller is designed to control the pitching and steering of the glider. The kinematics and dynamics of the underwater glider are modeled and the PID controller is designed on the basis of it. The validity of the designed PID controller is verified by Matlab/simulink simulation and lake test. The simulation results show that the controller can effectively control the self-stabilization of the underwater glider under the designed PID parameters. Compared with the simulation results, it can be concluded that the design of the PID controller is reasonable and the attitude can be adjusted quickly and accurately.
2017,(): 64-69 收稿日期：2017-09-07
DOI：10.3404/j.issn.1672-7649.2017.12.014
分类号：N945.12;TP391.9
作者简介：王旭超(1993-),男,硕士研究生,研究方向为水下滑翔机姿态调节
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