【作者】 罗伟林； 李新宇；

【Author】 Luo Weilin;Li Xinyu;College of Mechanical Engineering and Automation,Fuzhou University;

【机构】 福州大学机械工程及自动化学院；

【摘要】 为提高水下机器人运动控制品质,本文将PID控制与模糊逻辑控制相结合。PID控制器作用于被控对象,控制器中的比例、微分、积分因子通过模糊逻辑方法得到。将所设计控制器应用于某水下机器人的航向控制,仿真结果和模型试验结果表明,所设计的控制器从响应速度和精度方面都达到了良好的控制效果。更多还原

【Abstract】 To improve the control performance,a hybrid controller is proposed for the motion control of an underwater robot in which PID control is combined with fuzzy logic based control.The proportional factor,integral factor and the derivative factor in the PID controller are obtained by fuzzy logic method.The fuzzy PID controller is applied to a specific underwater robot.Both simulation and experiment are conducted for the course control to confirm the validity of the proposed controller.Results demonstrate the response rate and accuracy of the controller.更多还原