摘要
为减少海洋渔业资源过度开发,文中设计一种海洋渔业选择性捕捞ROV,用于捕捞过程中对幼鱼和稀有鱼种的保护。依据海洋渔业选择性捕捞作业要求,采用Solidworks软件完成ROV机械结构的设计。ROV运动系统具有非线性和强耦合性,遇到水流的作用会变得更加不稳定。为提高ROV在捕捞过程中艏向运动的稳定性能,设计一种模糊PID控制器对ROV进行艏向控制。根据ROV运动特点建立空间运动坐标系和ROV艏向运动数学模型表达式,在PID控制基础上引入模糊控制对PID的3个参数进行在线调整;在Matlab/Simulink环境下创建PID控制器与模糊PID控制器仿真模型,使用两种控制器对ROV进行30°和90°的艏向控制对比仿真。仿真结果表明,模糊PID控制较PID控制超调量分别减少4°、10°,系统达到稳定状态的时间也更短,是一种高性能与稳定的ROV艏向控制方式。
In order to reduce the overexploitation of marine fishery resources,a selective fishing ROV(remote operated vehicle)for marine fishery is designed,which is used for the protection of juvenile fish and rare fish species during the fishing process.According to the requirements of selective fishing operations in marine fishery,the design of ROV mechanical structure is completed by means of Solidworks software.Due to the characteristic of nonlinear and strong coupling,the ROV motion system will become more unstable when encountering the water flow.In order to improve the stability of ROV′s heading motion during the fishing process,a fuzzy PID controller is designed to control the heading of the ROV.According to the characteristics of ROV motion,the space motion coordinate system and the mathematical model expression of ROV heading motion are established.On the basis of PID control,fuzzy control is introduced to make online adjustment of the three parameters of PID.The simulation models of PID controller and fuzzy PID controller are created in the Matlab/Simulink environment,and the two controllers are used to conduct the comparison simulation of the ROV′s heading control of 30°and 90°.The simulation results show that in comparison with PID control,the overshoot of the fuzzy PID control is reduced by 4°and 10°respectively,and the time to reach stable state of the system is also shorter.It is a high-performance and stable ROV heading control mode.
作者
戎瑞亚
季福路
刘全良
贺波
RONG Ruiya;JI Fulu;LIU Quanliang;HE Bo(School of Ocean Engineering Equipment,Zhejiang Ocean University,Zhoushan 316022,China;Jessn Marine Equipment Co.,Ltd.,Ningbo 315806,China)
出处
《现代电子技术》
2023年第18期90-96,共7页
Modern Electronics Technique
基金
捷胜海洋装备股份有限公司科研合作项目:海洋渔业精准捕捞智能化装备与控制技术研究(JK2101001)。
