Scientific Journal of Control Engineering

February 2014, Volume 4, Issue 1, PP.16-22

The Hydrodynamic Resistance Compensation

by Using PIDNN Control
Zhanxia Zhu#, Yue Li, Yan Ma, Qizhang Wei
College of Aeronautics, Northwestern Polytechnical University, Xian Shanxi 710072, China
#

Email: zhuzhanxia@nwpu.edu.cn

Abstract
During neutral buoyancy experiment, the hydrodynamic resistance is a main factor leading to test results poor similarity to real
spacecrafts. In order to achieve more credible experiment result, the effect caused by hydrodynamic resistance should be
compensated. In this paper, we proposed a compensate scheme in which the hydrodynamic resistance is counterbalanced using
multi-propulsion based on thrust refined distribution and control. Then we designed the Proportional-Integral-Derivative Neural
Network (PIDNN) control law, in which weight coefficients are trained by using self-study of Neural Network and then to adjust
and determine the parameters of PID for nonlinear system and parameter change. We also built the simulation system based on
MATLAB/simulink and accomplished the hydrodynamic resistance compensation simulation for the six degrees freedom motion
of the Neutral buoyancys experimental body (NBEB). The results show that the performance of the controller based on the
PIDNN is good at fast response and small overshoot. And it also proved that the method proposed in this paper is effective for the
hydrodynamic resistance compensation.
Keywords: Neutral Buoyancy; Proportional-Integral-Derivative Neural Network Control; Hydrodynamic Resistance

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[5] Xu-liang Yao. Dynamic Hydrodynamic Characteristics and Power Servo System of Fin Stabilizer[D]. Harbin: Harbin Engineering
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[6] Jun Zeng. the Study and Simulation of Neural Network PID Controller[D].Hunan:Hunan University, 2004
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