Underwater glider pitch angle control method under buoyancy feedback

The invention provides an underwater glider pitch angle control method under buoyancy feedback. According to a deviation between a preset pitch angle theta r and an underwater glider actual pitch angle theta, a PID controller is designed, and ri under pitch angle error feedback is obtained; and meanwhile by combining the sliding block position rc under a steady pitch angle with real time-based buoyancy feedback kbmb, revised control input ric is obtained and acts on an underwater glider, and then control over the underwater glider is achieved. By means of comparison simulation with pitch anglecontrol without buoyancy feedback, the effectiveness of the proposed algorithm is verified. 本发明提出种浮力反馈下的水下滑翔机俯仰角控制方法，根据预设俯仰角θ与水下滑翔机实际俯仰角θ之间偏差，设计PID控制器，得出俯仰角误差反馈下的r。同时，加上稳态俯仰角下的滑块位置r，再加上基于实时的浮力反馈km，得出修正后的控制输入r，将其作用于水下滑翔机，实现对水下滑翔机的控制。通过与无浮力反馈下的俯仰角控制对比仿真，验证了本发明所提算法的有效性。