UUV定深控制模型参数优化设计方法OA

Proper parameters of a control model can ensure that the controlled object realizes its control purpose in a fast response time and with a small overshoot.The optimal design of parameters for UUV depth setting control model is of great significance to improve UUV performance.Firstly,UUV space kinematics equation is established,and a UUV virtual prototype and its depth setting control model are constructed based on Modelica modeling language.Then,to minimize the response time and overshoot,the multi-objective optimization process for parameters of UUV depth setting control model is established by using non-dominated sorting differential evolution algorithm,and the design workflow of parameters optimization is constructed based on OPTIMUS platform.The experimental results of an UUV show that optimal PID control model parameters can be obtained quickly with the proposed method,and the optimized control characteristics of UUV depth setting motion are significantly improved.