摘要
为了对自持式智能浮标进行定深控制,文中先将自持式智能浮标的油箱油面偏移量作为输入,浮标的下潜深度作为输出,建立自持式智能浮标的非线性浮潜运动模型;然后根据浮标的各种实际参数,代入浮潜运动模型进行化简,设计闭环的模糊PID控制器;再将模糊PID控制器与浮潜运动方程相结合,借用Matlab中的Simulink工具对浮标浮潜运动控制进行仿真,并与普通PID控制进行对比。结果表明,闭环模糊PID控制对浮标的深度控制效果更佳,具体表现为模糊PID控制的系统更稳定,超调量比PID控制小。最后,分析在湖北宜昌所测得的自持式智能浮标的水下CTD数据,主要包括浮标所在位置水的深度、温度和盐度,再将浮标的深度数据用Matlab进行处理,进一步验证所设计的闭环模糊PID控制器的可行性。
In order to control the depth of the self-supporting intelligent buoy,the oil level offset of the oil tank of the selfsupporting intelligent buoy is taken as the input,the submergence depth of the buoy is taken as the output,and the nonlinear floating motion model of the self-supporting intelligent buoy is established. According to the various actual parameters of the buoy,the snorkeling motion model is substituted for simplification,and then a closed-loop fuzzy PID controller is designed. In combination of the fuzzy PID controller with the snorkeling motion equation,the SIMULINK tool in Matlab is used to simulate the snorkeling motion control of the buoy,and compare with the ordinary PID control. The results show that the closed-loop fuzzy PID control has a better effect on the depth control of the buoy. The specific performance is that the fuzzy PID control system is more stable and the overshoot is smaller than the PID control. The underwater CTD data of the self-contained intelligent buoy measured in Yichang,Hubei Province is analyzed,mainly including the depth,temperature and salinity of the water where the buoy is located,and then the depth data of the buoy is processed with Matlab to further verify the feasibility of the designed closed-loop fuzzy PID controller.
作者
凌亮发
杨小辉
陈褒丹
LING Liangfa;YANG Xiaohui;CHEN Baodan(College of Information and Communication Engineering,Hainan University,Haikou 570228,China;The 710 Research Institute of China Shipbuilding Industry Corporation,Yichang 443003,China)
出处
《现代电子技术》
2022年第20期171-176,共6页
Modern Electronics Technique
基金
海南省重点研发计划项目(ZDYF2019006)。
