深海行走机构灰色预测-模糊PID速度控制

摘要

针对深海行走机构在海底复杂作业环境下行走所呈现的随机性、非线性、时变性,难以建立精确数学模型等特点,提出将灰色预测、模糊控制与常规PID控制相结合的灰色预测模糊PID控制算法.灰色预测根据少量的速度检测数值预测系统的未来变化,模糊PID控制通过模糊推理对常规PID参数自适应调整实现速度控制.仿真结果表明,该算法消除了系统的随机性,能够对深海行走机构灰色系统实行有效的控制,取得了比普通P1D算法更加优良的性能.%Aimed at the characteristics of benthic complex environment, such as randomicity, non-linear, variability , difficult to establish exact mathematical model, and so on, incorporating the grey prediction, fuzzy control and the conventional P1D control, a design control method: grey prediction fuzzy PID control was presented. The future change of the controlled system was predicted based on a few detected speed value by the grey prediction model, fuzzy PID control achieved adaptive adjustment by fuzzy reasoning. The simulation results show that this algorithm can eliminate randomicity and can control the grey system effectively. This algorithm has better performance than conventional PID control.