机电工程技术2026，Vol.55Issue(14)：29-37,9.DOI:10.3969/j.issn.1009-9492.2025.00158
模糊控制作用于串级PID控制不同位置对水下机器人控制效果的比较研究
Comparative Study on the Effects of Fuzzy Control Applied at Different Positions of Cascade PID Control for Underwater Robot Control Performance
摘要
Abstract
To address the challenge of high-precision motion control for remotely operated vehicles(ROV)in complex marine environments,three hybrid strategies integrating fuzzy control with cascade PID control are systematically evaluated:cascade PID parallel fuzzy control,fuzzy PID+PID control,and PID+fuzzy PID control.Using Simulink simulations,forward-backward and yaw motions are taken as control objects,with a step input of amplitude 100 applied,and external disturbances at 30 s.Dynamic response,steady-state accuracy,and anti-interference capability are assessed from three aspects.Results show that all hybrid strategies outperform conventional cascade PID control with distinct advantages:fuzzy PID+PID achieves optimal anti-interference performance,with recovery times of 2.678 s(forward-backward)and 1.878 s(yaw)after disturbances;PID+fuzzy PID control achieves a step response overshoot of 0%,effectively suppressing overshoot;cascade PID parallel fuzzy control balances performance,reducing overshoot by 21.1%and settling time by 0.963 s in forward-backward motion,and 16.1%overshoot reduction with 0.635 s shorter settling time in yaw motion.The study reveals that the integration position of fuzzy control within cascade PID structures significantly affects performance.These findings provide a systematic theoretical framework for composite control strategies in ROV,offering practical guidance for real-world applications.关键词
水下机器人/模糊控制/串级PID控制/运动控制Key words
underwater robot/fuzzy control/cascade PID control/motion control分类
信息技术与安全科学引用本文复制引用
李睿之,陈超核,江梦洁,张连宾..模糊控制作用于串级PID控制不同位置对水下机器人控制效果的比较研究[J].机电工程技术,2026,55(14):29-37,9.基金项目
广东省重点领域研发计划项目(2020B1111010001) （2020B1111010001）
