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| 深海剖面浮标的RBF-PID定深控制 | |
| 引用本文： | 房美琦,李醒飞,姜明波,杨少波,吴腾飞,徐佳毅. 深海剖面浮标的RBF-PID定深控制[J]. 信息与控制, 2019, 48(6): 641-648. DOI: 10.13976/j.cnki.xk.2019.9134 |
| 作者姓名： | 房美琦 李醒飞 姜明波 杨少波 吴腾飞 徐佳毅 |
| 作者单位： | 1. 天津大学精密测试技术及仪器国家重点实验室, 天津 300072; 2. 中国人民解放军61540部队, 陕西 西安 710054 |
| 基金项目： | 青岛海洋科学与技术国家重点实验室"问海计划"专项资助（ZR2016WH01）;国家十三五海洋经济创新发展示范项目：海洋高端装备配套技术及装备产业创新孵化基地子任务4：深海自持式智能浮标系统（BHSF2017027） |
| 摘 要： | 针对深海自持式剖面浮标的定深控制问题,提出一种径向基（radial basis function,RBF）神经网络与PID（proportional,integral,derivative）控制相结合的参数自适应调节的定深控制算法.首先根据相关参数的非线性特点,建立了剖面浮标的运动模型并验证了该模型的准确性.在此基础上,充分考虑剖面浮标浮力驱动系统单向可控性的特点,设计了基于RBF-PID算法的剖面浮标定深控制器.将仿真结果与增量式PID控制结果进行对比,结果表明RBF-PID控制算法能够提高浮标的定深控制精度,增强浮标的抗干扰能力. |
| 关 键 词： | 剖面浮标 RBF-PID 定深控制 非线性模型 |
| 收稿时间： | 2019-03-25 |
RBF-PID Depth Control of Deep-sea Profiling Floats |
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| FANG Meiqi,LI Xingfei,JIANG Mingbo,YANG Shaobo,WU Tengfei,XU Jiayi. RBF-PID Depth Control of Deep-sea Profiling Floats[J]. Information and Control, 2019, 48(6): 641-648. DOI: 10.13976/j.cnki.xk.2019.9134 | |
| Authors: | FANG Meiqi LI Xingfei JIANG Mingbo YANG Shaobo WU Tengfei XU Jiayi |
| Affiliation: | 1. State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin 300072, China; 2. The 61540 army of the Chinese people's Liberation Army, Xi'an 710054, China |
| Abstract: | In this study, we propose an adaptive proportional-integral-derivative (PID) depth control algorithm based on the radial basis function (RBF) neural network to solve the depth control of deep-sea self-supporting profiling floats. Firstly, we establish a kinematic model of the profiling float and verify the accuracy of the model based on the nonlinear characteristics of the relevant parameters. Secondly, we design a profiling float depth controller based on the RBF-PID algorithm considering the characteristics of the one-way controllability of the buoyancy drive system. A comparison of the simulation results with the incremental PID control results denotes that the RBF-PID control algorithm can improve the depth control accuracy and enhance the anti-interference ability of the floats. |
| Keywords: | profiling float RBF-PID (radial basis function-proportional integral derivative) depth control nonlinear model |
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