【摘要】 着重研究新型自主水下航行器(AUV)控制姿态控制，首先对航行器的运动过程进行受力分析，建立基于螺旋桨机架结构、及电机的力学模型。然后分别设计了基于传统PID和模糊PID控制算法的控制器，通过分析传统PID和模糊PID控制算法的特点，利用MATLAB搭建基于两种控制器的姿态控制系统模型，在两种姿态控制系统模型下，对航行器姿态的控制效果进行仿真与分析。仿真结果表明：在既定角度和角度曲线的条件下，基于模糊PID控制算法的控制器可以减少系统姿态的超调量，快速达到姿态稳态，对给定姿态曲线的跟随效果更好，可实现姿态的自动化、智能化控制。更多还原

【Abstract】 According to the requirement of new AUV control, a fuzzy PID control method is proposed to solve the problem. This method can modify the PID parameters in real time so that the uncertain model control system has strong robustness and anti-interference ability and realize the automatic and intelligent control of attitude. Through analysis on the features of traditional PID control algorithm and fuzzy PID control algorithm, attitude control system model based on two controllers are built using MATLAB,the simulation and analysis on the control effect of on aerocraft attitude are done on two attitude control system model. The simulation results show that under the condition of the given angle and the angle of the curve, the fuzzy PID control algorithm can reduce the overshoot, quickly reach steady state, obtain better following effect of given attitude curve, thus realizing the automatic and intelligent control on attitude.更多还原