An underwater robot hovering control method based on improved PID algorithm

摘要

Because the traditional PID controller's underwater robot regulation process is complicated for manual tuning, has heavy repetitive workloads and difficulty in getting optimal parameter combinations, an improved PID-based underwater robot hovering control method is proposed. Firstly, the underwater robot is modeled and simulated to determine the parameters of its dynamic processes. The recorded parameters are substituted into the parameter tuning model, and the values of proportional gains and the desired closed-loop bandwidth parameters are calculated. The phase overrun compensation parameters in the PID tuning formula are initialized and then tuned in combination with the simulation results. Finally, optimal parameter configurations are derived. The simulation results show that compared with the traditional PID algorithm, the improved PID algorithm can lead to faster convergence of the position vector of a snorkel, smaller overshoot and steady state error.