摘要
ROV(水下机器人)运动时往往表现出不确定性,其精确的数学模型难以建立,很难通过软件仿真确定PID的控制参数,作者采用数字PID算法,运用工程试凑法对PID控制参数进行整定,水下机器人的深度控制和高度控制采用垂直推进电机和水平舵机相结合的控制方式,航向控制采用水平推进电机控制方式;通过对某水下机器人的水库试验,整定出了比较优化的PID参数,试验结果表明了该方法的可行性和有效性,系统动、静态品质好。
Remotely operated vehicle often behaves uncertainly. It is difficult to build its mathematics model and to get control parameter by emulating. We adopt Numeric PID control strategies, and use engineering method to get control parameters. We choose vertical electromotor and rudder control mode to control depth and altitude, and choose horizontal electromotor to control course. Finally we chooses a remotely operated vehicle control object and make lake experiments. The results show that the control effect of Numeric PID is good.
出处
《自动化博览》
2012年第7期76-79,共4页
Automation Panorama1
关键词
水下机器人
数字PID
闭环控制
Remotely operated vehicle
Numeric PID
Closed loop control
