The Application Of Fuzzy PID Control In The Motion Control Of The Underwater Vehicle

In these decades, due to the requirements of ocean exploitations and all kinds of underwater tasks, underwater vehicles are rapidly developed. The dissertation is on the research of the control for an open-frame remotely operated underwater vehicle named "GDROV" which is designed for the purpose of the inspection of cracks, crevice and other potential problem of dams. In order to enhance the motion capability of the vehicle, the research on the control of the vehicle became very important. In this dissertation, we aimed at the application of fuzzy PID control in the motion control of the GDROV and designed the control system for the GDROV.According to the structure character and the demand of the underwater vehicle, a four-degree equation was set up, and improve the simulative environment of the vehicle. The main part of this dissertation is the design of the control system for the GDROV. In this part, first a Mamdani-type fuzzy is presented, simulation results show some steady-state error occur in this controller. Then based on this, a fuzzy self-adaptive PID controller and a fuzzy-PID hybrid controller were presented, simulation results and lake-test results show the controllers possess not only good dynamic tracing performances but also high steady state accuracy.