ROV 的 PID 模糊系统鲁棒控制
A Robust Control via a Fuzzy System with PID for the ROV.
机构信息
School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China.
出版信息
Sensors (Basel). 2023 Jan 10;23(2):821. doi: 10.3390/s23020821.
Uncertainty and nonlinearity in the depth control of remotely operated vehicles (ROVs) have been widely studied, especially in complex underwater environments. To improve the motion performance of ROVs and enhance their robustness, the model of ROV depth control in complex water environments was developed. The developed control scheme of interval type-2 fuzzy proportional-integral-derivative control (IT2FPID) is based on proportional-integral-derivative control (PID) and interval type-2 fuzzy logic control (IT2FLC). The performance indicators were used to evaluate the immunity of the controller type to external disturbances. The overshoot of 0.3% and settling time of 7.5 s of IT2FPID seem to be more robust compared to those of type-1 fuzzy proportional-integral-derivative (T1FPID) and PID.
在遥控潜水器（ROV）的深度控制中，不确定性和非线性问题已经得到了广泛研究，尤其是在复杂的水下环境中。为了提高 ROV 的运动性能并增强其鲁棒性，开发了复杂水下环境中 ROV 深度控制的模型。所开发的基于比例积分微分控制（PID）和区间型 2 模糊逻辑控制（IT2FLC）的区间型 2 模糊比例积分微分控制（IT2FPID）的控制方案。采用性能指标来评估控制器类型对外部干扰的免疫能力。与 T1FPID 和 PID 相比，IT2FPID 的超调量为 0.3%，调节时间为 7.5s，似乎更具鲁棒性。
Zotero 插件