基于模糊PID的无人水面艇直线路径跟踪

摘要

In order to avoid the big gyration that may occur when the PID controller is used to the Unmanned Surface Vessel(USV),a straight line path following control method based on fuzzy PID is presented. Using the angle deviation between course angle and the straight line as well as the distance deviation between the USV and the path as input,the fuzzy algorithm is used to adjust the PID parameters dynamically,and the PID controller outputs the control voltage of the motors driving the propellers,so that the USV can track the straight line. Simulation results show that the proposed method can avoid the big gyration that appears when PID controller is used at large initial deviation of course angle. In comparison with PID controller,the fuzzy PID has better performance in overshoot and regulation time at small initial angle deviations.%针对固定参数PID方法在无人水面艇直线路径跟踪控制中出现的大迴转问题，提出一种基于模糊PID的直线路径跟踪方法。在系统中增加模糊推理模块，利用航向与跟踪直线之间的偏差角以及无人艇位置与跟踪直线之间的距离误差，根据模糊推理的方法动态地调整PID参数。通过PID控制器实时调整左右两侧推进电机的输入电压，实现对给定直线路径的自主跟踪。仿真结果表明，在初始航向偏差角较大时，该方法克服了采用固定参数PID控制方法时出现的大迴转现象；在初始航向偏差角较小时，该方法在超调量以及调节时间方面的直线跟踪性能优于固定参数PID控制方法。