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应用科学学报

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超小型水下机器人潜浮运动控制

翟宇毅;陈勇;龚振邦;唐海滨;马金明   

  1. 上海大学 精密机械系，上海 200072
  • 收稿日期:1900-01-01 修回日期:1900-01-01 出版日期:2007-03-20 发布日期:2007-03-20

Heave Motion Control for Submini Underwater Vehicle

ZHAI Yu yi;CHEN Yong;GONG Zhen bang;TANG Hai bin;MA Jin ming   

  1. Department of Fine Mechanics, Shanghai University, Shanghai 200072, China
  • Received:1900-01-01 Revised:1900-01-01 Online:2007-03-20 Published:2007-03-20

摘要： 主要以自行设计的水下机器人的数学模型为基础，推导出相关的仿真模型，且进行了合理的简化.在分析了系统整体运行状态后，提出了用数字PID控制器对系统进行校正的方法，并详细分析了PID参数的整定方法及其对系统性能的影响.最后采用Matlab 6.5 提供的Simulink模块对系统进行了仿真，得出了比较有参考价值的仿真结果.

关键词: 水下机器人, 仿真模型, 操纵性控制, 控制器

Abstract: Based on the mathematical model used in a self designed underwater vehicle, a simulation model is induced. Reasonable simplification has been made in model. Having analyzed the overall performance, correction to the system using the PID algorithm is proposed. The PID parameters are calibrated, and its effects on the digital PID controllers are analyzed. Simulation has been performed with Simulink providing some useful results.

Key words: underwater vehicle, simulation model, manipulative control, controller