Research On Adaptive Control Of High Precision Depth Simulator

With the introduction of the strategy of marine power,the research and development of ocean equipment is more and more widely used.The seawater depth(pressure)simulator is of great significance for the development of marine equipment.The simulation effect of the depth simulator directly affects the development and testing of marine equipment.In this paper,the small-volume high-precision depth simulator is taken as the research object,and the high-precision control method of depth simulator is studied.Firstly,based on the analysis of the non-linear effect of air on the oil bulk modulus of the simulator,the mathematical model of the oil elastic modulus varying with the gas content and hydraulic pressure is obtained.Then,the problems of traditional PID control,fuzzy control and sliding mode control in dynamic simulation accuracy of simulator are discussed,to solve the problems,two more suitable control methods,self-tuning PID and model reference adaptive control are proposed.Then,a self-tuning PID controller is designed based on pole assignment,and a model reference adaptive controller is designed based on Lyapunov stability principle.Then,the validity of the two adaptive controllers is validated by the AMESim simulation model of the simulator.The experimental results show that the two control methods can effectively solve the non-linear problem of the system.Finally,because the model reference adaptive control method is better than the model reference adaptive control method in terms of control stationarity,so the model reference adaptive control method is used to control the high precision depth simulator.