模糊控制作用于串级PID控制不同位置对水下机器人控制效果的比较研究OA

To address the challenge of high-precision motion control for remotely operated vehicles(ROV)in complex marine environments,three hybrid strategies integrating fuzzy control with cascade PID control are systematically evaluated:cascade PID parallel fuzzy control,fuzzy PID+PID control,and PID+fuzzy PID control.Using Simulink simulations,forward-backward and yaw motions are taken as control objects,with a step input of amplitude 100 applied,and external disturbances at 30 s.Dynamic response,steady-state accuracy,and anti-interference capability are assessed from three aspects.Results show that all hybrid strategies outperform conventional cascade PID control with distinct advantages:fuzzy PID+PID achieves optimal anti-interference performance,with recovery times of 2.678 s(forward-backward)and 1.878 s(yaw)after disturbances;PID+fuzzy PID control achieves a step response overshoot of 0%,effectively suppressing overshoot;cascade PID parallel fuzzy control balances performance,reducing overshoot by 21.1%and settling time by 0.963 s in forward-backward motion,and 16.1%overshoot reduction with 0.635 s shorter settling time in yaw motion.The study reveals that the integration position of fuzzy control within cascade PID structures significantly affects performance.These findings provide a systematic theoretical framework for composite control strategies in ROV,offering practical guidance for real-world applications.