基于奇异摄动法的水下机器人串-并联PID控制

针对串级PID控制应用于水下机器人位置、姿态控制时出现的收敛速度慢、抗扰动能力差等问题，提出一种基于奇异摄动法的串 并联PID控制方法.使用时标分解法得到水下机器人的快慢子系统模型，根据奇异摄动法设计串 并联PID控制.以自主设计的水下机器人为基础，使用最小二乘法测定水动力参数.通过仿真与实验证明串 并联PID控制具有更快的收敛速度与较高的鲁棒性.

Series-Parallel PID Control of Underwater Vehicles Based on Singular Perturbation Method

Aiming at the problems of slow convergence speed and poor anti disturbance ability when classical PID control is applied to position and attitude control of underwater vehicle, a series parallel PID control method (SPPID) based on singular perturbation method is proposed. Firstly, the time scale decomposition method is used to obtain the fast and slow subsystem model of the underwater vehicle, and the SPPID is designed according to the singular perturbation method. Secondly, based on the self designed underwater vehicle, the least square method is used to measure the hydrodynamic parameters. Finally, simulation and experiment show that SPPID has faster convergence speed and higher robustness.