基于SSA-模糊PID的AUV姿态控制研究

Research on AUV Attitude Control Based on SSA-Fuzzy PID

摘要:

针对AUV高精度、高稳定性姿态控制的提升需求，提出一种结合麻雀算法(SSA)和模糊PID控制的姿态控制器。采用麻雀算法对模糊PID控制器参数进行优化，并将寻优后模型用于算法的反馈补偿，有效解决了模糊PID控制过度依赖经验，难以应对水下复杂工况的问题。仿真结果表明，SSA-模糊PID控制器在AUV姿态调节中表现出较传统模糊PID控制器更好的响应速度和抗干扰能力，有效改善了AUV姿态控制性能。经实际应用验证，控制器在复杂工况下可快速收敛至期望姿态并维持稳定。

Abstract:

In order to improve the attitude control of AUV with high precision and stability, an attitude controller combining Sparrow Algorithm (SSA) and fuzzy PID control was proposed. The sparrow algorithm is used to optimize the parameters of the fuzzy PID controller, and the optimized model is used for the feedback compensation of the algorithm, which effectively solves the problem that the fuzzy PID control is overly dependent on experience and difficult to cope with complex underwater conditions. The simulation results show that the SSA-fuzzy PID controller shows better response speed and anti-interference ability than the traditional fuzzy PID controller in AUV attitude adjustment, and effectively improves the AUV attitude control performance. After practical application verification, the controller can quickly converge to the desired attitude and maintain stability under complex working conditions.