Motion analysis and fuzzy-PID control algorithm designing for the pitch angle of an underwater glider


Authors

Yu-hai Liu - School of Information Science and Engineering, Ocean University of China. Zhi-qiang Su - College of Engineering, Ocean University of China, 238 Songling Road, Qingdao, Shandong, 266100, China Xin Luan - School of Information Science and Engineering, Ocean University of China. Da-lei Song - College of Engineering, Ocean University of China, 238 Songling Road, Qingdao, Shandong, 266100, China Lei Han - School of Information Science and Engineering, Ocean University of China.


Abstract

Underwater gliders are used for deep-water gliding to observe large areas with minimal energy consumption. The pitch angle of the underwater glider is an important control parameter. This study involved designing a fuzzy-PID controller for the pitch angle of an underwater glider based on hydrodynamics analysis. The formula of pitch angle is obtained and a system identification method was used to identify the transfer function based on the time-domain equation and initial experimental data. The fuzzy-PID control algorithm was used to design the controller. Lake and sea trials indicated that the minimum overshoot reached 0% and the settling time was about 34s when the change of the angle was \(15^o\) . The minimum steady-state error was \(0.8^o\) . These advantages could reduce the consumption of energy and improve the accuracy of gliding trajectory. Therefore, this control algorithm should be applied to control the pitch of the gliders.


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ISRP Style

Yu-hai Liu, Zhi-qiang Su, Xin Luan, Da-lei Song, Lei Han, Motion analysis and fuzzy-PID control algorithm designing for the pitch angle of an underwater glider, Journal of Mathematics and Computer Science, 17 (2017), no. 1, 133-147

AMA Style

Liu Yu-hai, Su Zhi-qiang, Luan Xin, Song Da-lei, Han Lei, Motion analysis and fuzzy-PID control algorithm designing for the pitch angle of an underwater glider. J Math Comput SCI-JM. (2017); 17(1):133-147

Chicago/Turabian Style

Liu, Yu-hai, Su, Zhi-qiang, Luan, Xin, Song, Da-lei, Han, Lei. "Motion analysis and fuzzy-PID control algorithm designing for the pitch angle of an underwater glider." Journal of Mathematics and Computer Science, 17, no. 1 (2017): 133-147


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