模糊自适应PID控制在载人潜器动力定位中的应用研究

根据我国正在研制开发的某型载人潜器的特性及其对动力定位的要求 ,设计了一个模糊自适应PID控制器 ,通过模糊推理实现在线修改PID参数 ,仿真结果证明了这种方法具有良好的效果和应用性。

According to the characteristics of the manned submersible vehicle and the requirements of its dynamic positioning, the authors design a fuzzy adaptive PID controller, in which the PID parameters can be tuned in line. The simulation results show that the controller is effective and applicable.