| With the continuous increase of social demand,underwater unmanned vehicles have been used more in the fields of economic development,education and research,and military deployment.Due to its modular design advantages,underwater vehicles are individually designed for aquatic fishing,marine water quality monitoring,marine resource surveying and other fields.It not only saves human resources,but also reduces the risks caused by artificial diving,which has higher social benefits.This article briefly describes the overall design and mechanical structure of the underwater vehicle,and introduces the selection of steering gear and propeller;Use SOLIDWORKS software to integrate the vehicle model assembly model,export the URDF file to build the physical simulation model,import the simulation model into MATLAB and use the Mechanical Explorer window to observe the real-time motion posture of the underwater vehicle;Analyze the control structure of the aircraft,design the system control circuit,signal acquisition circuit,and conditioning circuit of the aircraft.This paper proposes a solution to apply the Pan-Boolean PID control algorithm to the control of an underwater vehicle,compares the application of the classic PID algorithm and the fuzzy adaptive PID algorithm in the same model,and summarizes the advantages and disadvantages of the control effect.The key research content includes the establishment of simulation control system for the heading motion and trim motion of the aircraft,and the continuous optimization of the control system through the adjustment of parameters.Compare the control effect of classic PID algorithm,fuzzy adaptive PID algorithm and pan-Boolean PID algorithm in practical application,analyze the control effect and compare the advantages and disadvantages.The results show that the pan-Boolean PID algorithm has the fastest response time to control the attitude angle change of the aircraft,the overshoot is significantly reduced compared with the traditional PID algorithm,and the system takes the shortest time to reach the target position.For fast-changing motion requirements,the followability of the system using Pan-Boolean PID control is also significantly better than that of traditional PID.The disadvantage is that the system using Pan-Boolean PID control has stricter requirements for the control of the steering gear.The control effect of the three algorithms on the trim angle is basically the same as the control effect of the heading angle.The traditional PID maintains consistent stability and smoothness.The Pan-Boolean PID control also shows the advantages of the algorithm’s own characteristics in terms of response time and followability.By verifying the system hardware circuit and comparing the simulation results of the algorithm,it can be seen that the research on the attitude angle control of the unmanned underwater vehicle carried out in this paper has important reference value and practical application significance in the field of vehicle control. |
