水下球形机器人BYSQ3的姿态控制研究

Spherieal underwater vehicle BYSQ3 was used as the research object.Because the whole modeling analysis need to consider many factors, and the inertial mass, a variety of torque need to be represented into six order matrix form, which need very large amount of calculation.In order to facilitate analysis, the whole is decomposed into three planar motion: horizontal, longitudinal vertical and cross vertical plane.Then it can be analyzed separately each plane without considering the coupling effects from other plane.On this basis, aiming at improving the shortcomings of the traditional PID control box of the fuzzy control method, an adaptive fuzzy PID controller based on PID parameter fuzzy self-tuning was proposed.it set the proportion, integral, differential table of fuzzy rules and the improved fuzzy PID controller structure was designed.The experiment in horizontal plane and longitudinal vertical of spherieal underwater vehicle BYSQ3was carried in MATLAB.The simulation results show that the improved fuzzy PID controller for BYSQ3 attitude control has better robustness, less overshoot amount.These results can be used as a theoretical basis for further study of the underwater motion control of BYSQ3.