【作者】 李晔； 庞永杰； 万磊； 唐旭东；

【Author】 LI Ye~(1,2),PANG Yong-jie~(1,2),WAN Lei~(1,2),TANG Xu-dong~(1,2) 1.State Key Laboratory of Autonomous Underwater Vehicle,Harbin Engineering University,Harbin 150001,China 2.College of Shipbuilding Engineering,Harbin Engineering University,Harbin 150001,China

【机构】 哈尔滨工程大学水下机器人技术国防科技重点实验室； 哈尔滨工程大学 船舶工程学院；

【摘要】 模糊规则调整的复杂度制约了模糊控制技术在水下机器人运动控制中的广泛应用。针对模糊规则调整问题,在6自由度解耦后,模糊控制基础上提出了水下机器人运动模糊控制的变规则算法,并结合仿人智能控制的思想设计了水下机器人运动控制器。综合S面控制和模糊控制的优点,压缩了模糊控制的论域,使模糊控制的语言变量的语言值即分挡数增加,提高了控制的灵敏度和精度。以"微龙-1"型水下机器人为对象进行了运动控制的水池试验和湖中试验,控制效果良好。更多还原

【Abstract】 Fussy control is restricted by complexity of fussy rules,in the motion control of underwater vehicle.Aiming at adjustment of fussy rules,after decoupling of 6 DOF,the alterable-rule algorithm of fussy control is brought forward,in underwater vehicle motion control.Motion controller of underwater vehicle is designed by apery intelligence.The advantages of S-plane control and fussy control are integrated.The domain of fussy control is compressed.Language variables are added,which help enhance the sensitivity and precision.The motion control experiments of"Mini-dragon-1"underwater vehicle are done in pool and lakes.Control effect is good.更多还原