The Cooperative Control of Speed of Underwater Driving Motor Based on Fuzzy PI Control

Underwater driving motor is an important part of underwater vehicle. The control of underwater motor that employ dual-motor structure caught great attention in the field of underwater vehicles. The current master-slave underwater drive motor adopts the traditional PI control algorithm, but the slave motor has a slow response speed and poor dynamic characteristics. In response to these shortcomings. In this paper, we propose a master-slave cooperative control method for underwater drive motors based on fuzzy PI algorithm. This method uses fuzzy control to adaptively adjust the coefficients of the traditional PI control algorithm, so that the PI controller always maintains the optimal parameters. Simulation experiments show that this method outperforms the traditional PI method in terms of stability and adjustment time.