为了提高AUV航向控制系统的控制品质，研究基于模糊理论的参数自调整PID算法。该算法在AUV原控制器的基础上对控制器参数进行在线调整，使控制器具有了一定的自适应特性。分析模糊控制规则对控制效果的影响，提出一种基于非线性函数的尺度变换方法对模糊控制器输入数据进行处理，简化了模糊控制器输入数据的量化过程。通过湖上试验，验证了模糊PID控制算法的有效性。对比试验结果显示，改进后的算法在AUV航向控制中能够获得更好的控制效果。在大角度转向中，该控制算法的优越性明显，系统响应快，超调小，航向误差均方差小。
In order to improve the control quality of the AUV heading control system, a parameter self-adjusting PID algorithm based on fuzzy theory is studied., the algorithm adjusts the controller parameters online based on the original AUV controller so that the controller has some adaptive characteristics. The influence of fuzzy control rules for the control effect is analyzed., a scale transformation method based on nonlinear function is proposed to process the fuzzy controller input data, which simplifies the quantization process of the fuzzy controller input data. Finally, the effectiveness of the fuzzy PID control algorithm is verified by experiments on the lake., In the comparative experiment, the improved algorithm can obtain better control result in the AUV heading control. In the large angle steering, the superiority of the control algorithm is obvious: the system response is fast, overshoot is small, and the heading error is small.
2020,42(2): 108-114 收稿日期：2019-01-21
DOI：10.3404/j.issn.1672-7649.2020.02.021
分类号：TP242
基金项目：中科院战略性先导科技专项资助（XDA13030204）
作者简介：吕厚权(1989-),男,硕士研究生,研究领域为水下机器人自主回坞技术、控制方法
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