Research on Deep Control Simulation of Small UUV Based on Pan-Boolean PID

Abstract

Aiming at the problem of low precision and poor dynamic quality of traditional fuzzy PID motion control, this paper proposes a motion control model based on pan-Boolean algebra. Through the basic force analysis of the UUV’s underwater depth direction movement, the Pan-Boolean PID control model is combined with the corresponding dynamic model to establish the Pan-Boolean PID depth motion control mode, separate the parameters of system allowable deviation, system allowable error, and system allowable error differential in the pan-Boolean PID deep motion control model, making the debugging of the model simple and accurate. At the same time, the deep motion control model of Pan-Boolean PID and fuzzy PID is compared and analyzed by MATLAB. The simulation results show that the Pan-Boolean PID depth control model has significantly improved control efficiency and stability.