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一种面向欠驱动AUV的航行控制方法
Authors
孙晓宇
孙铁
+3 more
朱兴华
林扬
贾松力
Publication date
17 December 2021
Publisher
Abstract
本发明涉及一种基于智能积分的分段PID控制与模糊控制方法融合的欠驱动AUV航行控制方法,该方法将欠驱动AUV航行控制分为采用带有仿人智能积分的PID控制方法进行水平面航行控制和采用带有智能积分的分段PID控制与模糊控制结合的垂直面航行控制两部分,控制过程中两部分根据各自的控制方法单独运行,控制参数互不耦合,能够分别输出航行器的目标垂直舵角及目标水平舵角从而实现对欠驱动AUV的航行控制功能。该控制方法消除了垂直面控制对稳态攻角的依赖并减小了欠驱动AUV航速变化对航行控制参数的影响,因而减少了控制方法中需要整定的参数及参数整定的难度
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Last time updated on 19/05/2022