串级PID控制在水下机器人俯仰控制系统中的应用

摘要

In terms of the pitch angle control of a remotely operated vehicle (ROV) in the complex underwater environment,a cascade PID controller was designed.The force situation of the underwater ROV was analyzed,and the kinematics model of the pitch control system of the ROV was established.The cascade PID controller has bigger adjusting range and faster response speed than traditional PID controllers,so it is more flexible when designing,and can deal with the problem produced by the practical nonlinear factors.The simulation results show that the cascade PID controller provided is of better control performance than traditional PID controllers for the pitch control of the ROV.The pool tests illustrate the feasibility of the cascade PID controller in the pitch angle control of the ROV.%针对水下复杂环境中水下机器人(ROV)俯仰角的控制问题,设计了串级PID控制器.分析了ROV水下受力情况,建立了ROV俯仰控制系统的运动学模型.复杂智能控制算法的实现(软件编程实现等)具有难度,而串级PID比传统PID控制器有更大的调节范围和更快的响应速度,在设计时有更大的灵活性,且可以处理实际中由非线性特性所带来的问题.Simulink仿真结果表明,对于ROV俯仰控制系统,串级PID控制器具有更好的控制性能.运用泳池测试验证了串级PID控制算法在ROV俯仰角控制中的可操作性.