基于干扰观测器PID的水下绞车控制系统

针对海洋工况下坐底自升降式水下绞车深度难以实现精确控制的问题,提出了基于干扰观测器PID原理的水下绞车定深控制方法。根据水下绞车的机械结构和控制系统硬件组成,设计了基于干扰观测器的PID控制系统,并对传感器集成浮球的正弦定深控制和爬坡定深控制进行了Matlab仿真分析,以深度偏差平方作为评判标准,分析了常规PID和干扰观测器PID的控制效果。研究结果表明,与常规PID定深控制相比,基于干扰观测器的PID可以观测和抑制外界干扰对系统产生的影响,能够有效提高水下绞车定深控制的准确性。

Control system of underwater winch based on disturbance observer PID

Aiming ataccurate control problem of underwater winch’s specified depth inmarine conditions, one kind of specified deepcontrol method was presented based on disturbance observer PID principle. According to the mechanical structure and control system hardware components of underwater winch, the disturbance observer based PID control system was designed. Matlab simulationmethod was used to analyses the sinusoidal motion and climbing motion of sensor Integration float. The control effects of the conventional PID control and PID based on disturbanceobserver were analyzed respectively by the criteria of the depth squared deviations. The results demonstrate that the disturbance observer based PID can be observed and suppress the influence of external disturbance interference, and there are certain advantages with respect to the PID. ABSTRACT FROM AUTHOR]