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Underwater glider attitude control algorithm based on fuzzy PID

An underwater glider and attitude control technology, which is applied to attitude control, controllers with specific characteristics, electric controllers, etc., can solve the problem that the control effect cannot meet the control index well, the attitude angle of the glider cannot be controlled in real time, and it takes a long time and other problems to achieve the effect of excellent control effect, short test cycle and shortened adjustment time

Inactive Publication Date: 2016-08-24
OCEAN UNIV OF CHINA
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AI Technical Summary

Problems solved by technology

[0004] The existing technology cannot control the attitude angle of the glider in real time, and the control effect cannot meet the control index well
In addition, the existing technology needs to obtain a relatively accurate attitude angle transfer function, which requires a large number of tests and analysis of test data to obtain, which is costly, inefficient, and time-consuming

Method used

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  • Underwater glider attitude control algorithm based on fuzzy PID
  • Underwater glider attitude control algorithm based on fuzzy PID
  • Underwater glider attitude control algorithm based on fuzzy PID

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Embodiment Construction

[0045] 1. Fuzzy PID control block diagram design:

[0046] figure 1 The block diagram of the fuzzy PID control system is depicted. The system input is the set attitude angle of the glider, and the output is the current attitude angle of the glider, which is fed back to the input end, and the error is obtained by making a difference with the set value, and the error change rate is obtained through differential processing. The error and error rate of change are used as the input of the fuzzy PID controller, and the output of the controller acts on the body of the underwater glider, which is the attitude angle transfer function in the control block diagram. Among them, the fuzzy inference adjusts the proportional, integral and differential gains in real time.

[0047] 2. Fuzzy PID controller design:

[0048] When designing a fuzzy PID controller, it is first necessary to carry out fuzzy processing and knowledge base configuration. Design a dead zone of 0.05 and a saturation zo...

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Abstract

The invention discloses an underwater glider attitude control algorithm based on fuzzy PID. The algorithm comprises (1) principle-based design of a fuzzy PID controller, (2) design of the fuzzy PID controller in Matlab, (3) compiling of a control program of the fuzzy PID controller, (4) establishment of a structural diagram of the fuzzy PID controller, and (5) establishment of a control system, operation of the control program of the fuzzy PID controller, and implementation of algorithm control. The algorithm disclosed by the invention can solve problems in long delay of an attitude angle, large inertia control, adjustment and setting of attitude angle real-time control parameters, and attitude angle strong-coupling control. The algorithm has the advantages of short duration of research and development, short duration of testing, low cost, effective control, reduction of attitude angle adjustment time, and reduction of steady-state errors. From the long run, battery power consumption can be reduced, and battery time of a glider can be enhanced through effective attitude angle control.

Description

technical field [0001] The invention relates to an attitude control algorithm of an underwater glider based on fuzzy PID. Background technique [0002] In today's society, there is a need for a comprehensive understanding of the ocean to realize the purpose of truly understanding the ocean and serving mankind. The pace of ocean exploration is constantly moving from the near sea to the ocean, from the shallow sea to the deep sea, from fixed points to space, and continues to deepen. The main tools used for marine monitoring, investigation and development have also gradually shifted from marine scientific research vessels to underwater robots, which are often called submersibles in the marine engineering community. Marine exploration tools have made great progress according to the historical process. Among them, underwater robots are divided into three types: manned, manned and unmanned, and unmanned. Manned robots are relatively mobile and flexible, and are easy to deal with ...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05B11/42
CPCG05D1/0875G05B11/42
Inventor 宋大雷苏志强韩雷王向东
Owner OCEAN UNIV OF CHINA
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