The Motion Control Of The Underwater Vehicle Based On The Fuzzy PID Algorithm

In recent years, due to the continuous development of marine resources and the human being cannot perform all types of jobs in the field of underwater in the long time, underwater robot technology has been rapid developed and wide applied. In this paper, I used the project "state inspection of underwater vehicle" of my laboratory as the research object, and its main role is to measure the objects in high radiation, acid corrosion, high temperature and other harsh nuclear power plant underwater environment. In order to further enhance the accuracy of underwater robot movement to more accurately complete the set of action, this paper designs a underwater robot motion controller based on fuzzy PID and prove the feasibility of the technology of fuzzy PID control in the underwater robot motion control through the water system simulation and trials under water.First of all, this paper expounds the concept and classification of underwater robot, then studied abroad developments and trends with analysis and comparison of the advantages and disadvantages of several common control method of underwater robot. According to the structure of research object and the demand of the actual work, we can determine the motion coordinate system and establish the six degree of space kinematics model of underwater robot, at the same time carry out the detailed stress analysis, and then on this basis, apply the fuzzy PID control technology to underwater robot control.Then mainly introduced the fundamental of the fuzzy control technology, PID control and fuzzy PID control, then designed fuzzy controller and PID controller of the underwater vehicle, and simulated in MATLAB software. The results of analysis showed that there are some disadvantages in using these two kinds of controllers separately, such as fuzzy controller control accuracy is not high and only use the PID controller is difficult to get better control effect. Therefore, a fuzzy PID controller based on both two is designed to control the motion of the underwater robot, while the experiment and field experiment are carried out. As can be seen from the experimental results, the fuzzy PID control technology has a better control effect, which is more suitable for the motion control of the underwater robot.