Application Research of Variable Universe Fuzzy PID Control in Underwater Conveyor
ZHANG Wei
HU Zhen
YANG Shenshen
Abstract：An underwater conveyor is a HOV ,conveying several persons under water .It has the features of long sailing distance and high speed .The plant is non-linear ,strong coupling and time-varying .And the controlling effect of general PID controller is not so satisfactory .According to the development of an Underwater Conveyor ,the variable universe fuzzy con-trol with PID control ,a variable universe fuzzy PID controller is designed .Its fuzzy universe can be expanded or contracted , which can tune the PID parameters more better .In the paper ,the mathematics models of motion in horizontal and vertical plane are established ,and the method of controller design and choosing a flexible factor are introduced .The simulating result of Matlab indicates that this control method has better adaptive ability .
Keywords：variable universefuzzy controlfuzzy PID controlunderwater conveyor
Publication Date：2014-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：5( 44-48 )