模糊PID算法的水下机器人控制系统优化

为应对复杂的水下工作环境，提高水下机器人工作时的稳定性、灵敏度和抗干扰能力，提出一种模糊PID算法对水下机器人原控制系统进行优化。优化后的水下机器人机械结构、控制系统硬件架构不变，仅通过改变软件程序对水下机器人进行模糊PID控制。水下机器人工作时，各类传感器把现场的环境参数转化为电信号，经预设的模糊库进行模糊化处理后发送给STM32控制器；STM32控制器按预设的程序对模糊化信号进行处理，处理完去模糊化后的电信号后发送给执行元件，从而实现水下机器人的模糊PID控制。MATLAB/Simulink仿真和水下测试结果显示：与经典PID算法比较，经模糊PID算法优化后的水下机器人反应更灵敏、系统更稳定、抗干扰能力更强，达到了预期的效果。

Optimization of Underwater Robot Control System Based on Fuzzy PID Algorithm

In order to improve the stability,sensitivity and anti-interference ability of the underwater robot in the complex underwater working environment,a fuzzy PID algorithm was proposed to optimize the original control system of the underwater robot.The mechanical structure of the underwater robot and the hardware structure of the control system remained unchanged,and the fuzzy PID control of the underwater robot was only performed through the software program.When the underwater robot was working,various sensors converted the environmental parameters of the scene into electrical signals,which were fuzzified by the preset fuzzy library and sent to the STM32 controller;the STM32 controller processed the fuzzy signals according to the preset program.After processing the de-fuzzied electrical signal,it was sent to the executive element,thus realizing the fuzzy PID control of the underwater robot.The simulation results of MATLAB/Simulink and underwater test results show that compared with the classical PID algorithm,the underwater robot optimized by the fuzzy PID algorithm has more sensitive response,more stable system,stronger anti-interference ability,and the expected effect is achieved.