UUV定深控制模型参数优化设计方法

合适的控制模型参数能够保证被控对象在较快的响应时间和较小的超调量下达到控制目标，无人水下航行器定深控制模型参数的优化设计对提升水下航行器使用性能具有重要意义。首先，建立了水下航行器空间运动学方程，基于 Modelica 建模语言构建了航行器虚拟样机及其定深控制模型。然后，以响应时间和超调量最小为优化目标，采用非支配排序差分进化算法建立了水下航行器定深控制模型参数多目标优化流程，基于 OPTIMUS 平台构建了水下航行器定深控制模型参数优化设计工作流。以某水下航行器为对象的实验结果表明：所提方法可快速获得较优的 PID 控制模型参数，优化后的水下航行器定深运动控制特性显著改善。

Research on Parameter Optimization Method for UUV Depth Setting Control Model

Proper parameters of a control model can ensure that the controlled object realizes its control purpose in a fast response time and with a small overshoot. The optimal design of parameters for UUV depth setting control model is of great significance to improve UUV performance. Firstly，UUV space kinematics equation is established，and a UUV virtual prototype and its depth setting control model are constructed based on Modelica modeling language. Then，to minimize the response time and overshoot，the multi-objective optimization process for parameters of UUV depth setting control model is established by using non-dominated sorting differential evolution algorithm，and the design workflow of parameters optimization is constructed based on OPTIMUS platform. The experimental results of an UUV show that optimal PID control model parameters can be obtained quickly with the proposed method，and the optimized control characteristics of UUV depth setting motion are significantly improved.