过渡目标值的非线性PID对自治水下机器人变深运动的稳定控制

Autonomous underwater vehicle deepening control based on transiting target value nonlinear PID

中文关键词  自治水下机器人  阶跃变深  非线性过渡函数  系统稳定性  非线性PID

英文关键词  autonomous underwater vehicle  step-deepening motion  nonlinear transition function  system stability  nonlinear PID

中文摘要

      针对传统PID在控制自治水下机器人(autonomous underwater vehicle, AUV)变深运动时易出现超调、大幅 波动等问题, 提出一种具有过渡目标值过程来调节误差反馈的非线性PID控制器. 在分析传统PID控制下系统出现 超调原因的基础上, 对系统目标值安排过渡过程, 利用系统输出跟踪过渡后的目标值进行误差反馈控制. 通过赫尔 维兹判据证明了系统稳定性, 仿真验证了控制的可行性. 最后通过湖上试验验证其工程可行性与实用性, 得出在非 线性过渡目标值的PID控制下, 系统的动态响应特性得以优化, 变深超调和波动问题明显改善, 可实现AUV平稳地 变深运动控制.

英文摘要

      The traditional depth control for autonomous underwater vehicle (AUV) based on the traditional PID method has drawbacks such as overshooting and large fluctuation. To overcome these problems, a nonlinear PID controller with transiting target value process for error adjustment is proposed in this paper. The mechanism behind the overshooting for traditional PID control method is analyzed. Based on this, a series of transitional targets are designed between the current state and the desired state. These transitional targets are fed to the proposed controller for feedback control. The stability of this controller is analyzed using Louth criterion. And the feasibility is validated through Matlab simulation. Lake experiment was also conducted to test its performance in field missions. The experiment results showed the overshooting and fluctuation problems are significantly reduced using the proposed controller. The dynamic response of the system is enhanced and the depth of the vehicle can be changed smoothly.