Research on the Control Performance of Depth-Fixed Motion of Underwater Vehicle Based on Fuzzy-PID

<table class="table-group" id="tab4"><tr><td><table class="table"><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td class="align_left">Specifications</td><td class="align_center">Numerical value</td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td class="align_left">Rated rotation speed</td><td class="align_center">1200 r/min</td></tr><tr><td class="align_left">Nominal voltage</td><td class="align_center">15 V</td></tr><tr><td class="align_left">Maximum current</td><td class="align_center">25 A</td></tr><tr><td class="align_left">Rated power</td><td class="align_center">350 W</td></tr><tr><td class="align_left">The length</td><td class="align_center">113 mm</td></tr><tr><td class="align_left">The diameter</td><td class="align_center">100 mm</td></tr><tr><td class="align_left">Blade diameter</td><td class="align_center">76 mm</td></tr><tr><td class="align_left">Air weight</td><td class="align_center">344 g</td></tr><tr><td class="align_left">The water weight</td><td class="align_center">156 g</td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Propeller specifications of the underwater vehicle.</div>

Journal of Robotics

tab4

Table 4

Table 4: Research on the Control Performance of Depth-Fixed Motion of Underwater Vehicle Based on Fuzzy-PID 