摘要
提出一种新型四螺旋桨无人船模型,用于解决无人船在水中作业时抵抗环境的扰动能力较差问题。在传统PID基础上进行了改进与升级,提出一种模糊自适应PID控制。对无人船控制系统进行了Matlab Simulink仿真。仿真结果表明,模糊PID控制器在克服干扰方面比传统PID控制效果更好。
This paper provide a four-propeller unmanned surface vehicle model, which is resistant to environmental disturbances. In this paper, a new fuzzy adaptive PID （P： proportion; I： integration; D： differentiation） control method is proposed, which make the unmanned surface vehicle remains horizontal. At the same time, the .unmanned surface vehicle control system has been carried On the Matlab Simulink. The simulation results show that the fuzzy PID controller has better effeet than the traditional PID control to overcome the interference.
作者
张帆
刘军
陈起凤
吴梦婷
李威
ZHANG Fan LIU Jun CHEN Qi-feng WU Meng-ting LI Wei(Hubei Key Laboratory of Intelligent Robot School of Computer Science and Engineering, Wuhan Institute of Technology, Wuhan 430205, China)
出处
《软件导刊》
2017年第10期47-50,共4页
Software Guide
基金
湖北省智能机器人重点实验室开放基金项目(HBIR 201608)
武汉工程大学研究生教育创新基金项目(CX2015059
CX2016063)
关键词
无人船
PID控制
模糊自适应
模糊PID控制器
仿真
unmanned surface vehicle
PID control
fuzzy self-adjusting
fuzzy PID controller
simulation
