中国舰船研究2025，Vol.20Issue(z1)：33-43,11.DOI:10.19693/j.issn.1673-3185.04692
基于模糊PID的矢量推进穿戴式蛙人运载器设计及姿态控制
Design and attitude control of vector propulsion wearable diver propulsion vehicle based on fuzzy PID
摘要
Abstract
[Objectives]Aiming at the gaps in current wearable diver propulsion vehicles(WDPVs)regard-ing compatibility with general diving equipment,wearable human-computer interaction,mathematical model-ing,and closed-loop attitude control algorithms,this study conducts research on the overall design,mathemati-cal model establishment,and attitude control of a vector-propelled wearable DPV with convenient wearability and intelligent controllability.[Methods]First,the structure,functional composition,and vector propulsion layout of the wearable DPV were designed.The kinematic and dynamic models of the integrated diver-WDPV system were established,followed by the thrust modeling analysis of the WDPV under the action of the"four-propeller combined"vector thruster and the research on simplifying the dynamic model of the entire system.Second,an attitude control method based on a fuzzy PID controller was proposed,and corresponding con-trollers were designed for the control of pitch angle and yaw angle respectively.A simulation model of the sys-tem's attitude control was built using Simulink to simulate the mathematical model and the controllers.Finally,a prototype of the wearable DPV was built,and pool attitude control experiments were carried out.[Results]The results of simulations and pool tests show that the proposed motion model and attitude con-trol method can realize stable attitude control of the entire diver-WDPV system.The designed fuzzy PID con-troller has better control performance than the traditional PID controller and solves the parameter tuning prob-lem of the traditional PID controller.[Conclusions]The designed wearable DPV is compatible with gener-al diving equipment and has convenient and practical human-computer interaction functions.The proposed model and control method enable the wearable DPV to achieve stable attitude control underwater,thus meet-ing the operational requirements of divers for large-angle adjustment of pitch and yaw angles as well as high-stability control underwater.关键词
矢量推进/穿戴式蛙人运载器/模糊PID控制器/姿态控制Key words
vector propulsion/wearable diver propulsion vehicle(WDPV)/fuzzy PID controller/attitude control分类
交通工程引用本文复制引用
赵正阳,齐向东,熊攀,孙岩林,张振杰..基于模糊PID的矢量推进穿戴式蛙人运载器设计及姿态控制[J].中国舰船研究,2025,20(z1):33-43,11.基金项目
山西省科技创新人才团队专项资金资助(202304051001030) （202304051001030）
水声对抗技术国防科技重点实验室基金资助项目(2023JCJQLB3302) （2023JCJQLB3302）
