| 具有迟滞特性的水下小车牵引系统控制方法 |
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| 引用本文： | 赵寅,徐国华,陈莺,徐兵.具有迟滞特性的水下小车牵引系统控制方法[J].液压与气动,2015,0(9):116-121. |
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| 作者姓名： | 赵寅 徐国华 陈莺 徐兵 |
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| 作者单位： | 1.华中科技大学船舶与海洋工程学院， 湖北武汉430074；2.武汉船用机械有限责任公司， 湖北武汉430074 |
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| 摘 要： | 提出了基于改进Smith预估补偿的模糊PID控制器，实现对水下液压绞车牵引小车的精确速度控制。改进Smith预估补偿具有较好的解决迟滞环节对于控制系统的能力，模糊PID控制器具有较好的模型自适应性，两者相结合能够较好的解决水下小车速度控制系统的系统迟滞及参数时变对控制结果所带来的影响。利用MATLAB软件对液压绞车牵引小车的速度控制系统进行仿真，并对结果进行分析。
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| 关 键 词： | PID模糊控制 Smith预估器 液压系统 速度控制 |
A Control Method of Underwater Vehicle Traction System with Hysteresi |
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| ZHAO Yin,XU Guo hua,CHEN Yin,XU Bing.A Control Method of Underwater Vehicle Traction System with Hysteresi[J].Chinese Hydraulics & Pneumatics,2015,0(9):116-121. |
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| Authors: | ZHAO Yin XU Guo hua CHEN Yin XU Bing |
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| Affiliation: | 1. School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan, Hubei430074;2. Wuhan Marine Machinery Plant Co,. Ltd.， Wuhan, Hubei430074 |
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| Abstract: | Based on the improved Smith predictor, a fuzzy PID controller is designed to realize the precise speed control of underwater hydraulic winch. The improved Smith predictor has better capacity for the delay unit in the control system, and the model’s adaptability is improved by the fuzzy PID controller. The combination of the above two methods gives the hydraulic winch speed control system a better performance to deal with the constant change of parameters and delay unit’s impact. Simulation of hydraulic winch speed control system is run by MATLAB, followed the conclusion analysis. |
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