机械与电子2018，Vol.36Issue(5)：27-32,6.
水下柔性驱动小车受限运动控制研究
Study on Confined Motion Control of Flexible Driven Underwater Vehicle
荀思瑞 1刘刚 1郭冉 1徐国华1
作者信息
- 1. 华中科技大学船舶与海洋工程学院,湖北 武汉30074
- 折叠
摘要
Abstract
In this paper,a motion control research is conducted on a flexible driven underwater wheeled vehicle in confined water space.Under the requirements of specific control task,a combined speed control strategy based on F+PID fuzzy control method is proposed.The strategy adopts the fuzzy control method to overcome the difficulties of flexible variable load,time-varying parameters,and hysteresis nonlineari-ty.Meanwhile,the conventional PID algorithm is used for switching control,which eliminates the system static error and blind area,and makes up for the drawbacks of low steady-state accuracy in the fuzzy con-trol method.In addition,in light of the impact variable load in the stable operation stage of the vehicle, the impact compensation control is added,which effectively weakens the chattering phenomenon of the ve-hicle and improves the robustness of the system.The feasibility of the strategy is verified by all-digital simulation semi-physical simulation.关键词
水下小车/柔性驱动/速度控制/F+PID复合控制/阀控液压绞车Key words
underwater wheeled vehicle/flexible driven/motion control/F+PID combination con-troller/valve controlled hydraulic winch分类
信息技术与安全科学引用本文复制引用
荀思瑞,刘刚,郭冉,徐国华..水下柔性驱动小车受限运动控制研究[J].机械与电子,2018,36(5):27-32,6.
