LIU Xiao fei, WANG Su zhen

（College of Automation Engineering, Qingdao Technological University, Qingdao 266520, China）

 

 

Abstract: Aiming ataccurate control problem of underwater winch’s specified depth inmarine conditions, one kind of specified deepcontrol method was presented based on disturbance observer PID principle. According to the mechanical structure and control system hardware components of underwater winch, the disturbance observer based PID control system was designed. Matlab simulationmethod was used to analyses the sinusoidal motion and climbing motion of sensor Integration float. The control effects of the conventional PID control and PID based on disturbanceobserver were analyzed respectively by the criteria of the depth squared deviations. The results demonstrate that the disturbance observer based PID can be observed and suppress the influence of external disturbance interference, and there are certain advantages with respect to the PID.

Key words: underwater winch; disturbance observer；PID control