本文针对一种新型水下张力腿平台的液压驱动系统，开展了建模和控制技术研究。首先，介绍水下张力腿平台及液压驱动系统的功能及组成；其次，基于液压系统动力学模型和水下张力腿平台动力学模型，建立了包含综合不确定性且上界未知的关节空间驱动控制模型；再次，结合液压驱动系统控制要求及系统动力学模型特性，完成了自适应反演滑模控制器设计；最后，利用仿真工具，对本文研究内容的有效性进行验证。仿真结果表明，自适应反演滑模控制器的稳态精度高，抗干扰能力强，适用于液压驱动系统速度控制。该结果证明了本文的建模及控制技术研究合理且有效，为水下张力腿平台的有效控制奠定了基础，且可为同类产品的研究提供借鉴。
Modeling and control of hydraulic driving system is carried out for a new underwater tension leg platform. Firstly, the function and composition of underwater tension leg platform and hydraulic driving system are introduced; Secondly, joint-space driven control model containing comprehensive uncertainties with unknown upper bound is established, based on dynamic model of hydraulic system and underwater tension leg platform; Thirdly, according to the control requirements and system characteristics of hydraulic drive system, an adaptive backstepping sliding model controller is designed; Finally, the effectiveness of our research is verified through simulation. The simulation results show that adaptive backstepping sliding model controller has high steady-state precision and strong anti-interference ability, therefore, it's suitable for hydraulic drive system speed control. The results proved that the modeling and control research is reasonable and effective, which lays the foundation for the effective control of the underwater tension leg platform and can provide reference for the research of similar products.
2018,40(7): 63-72 收稿日期：2017-09-13
DOI：10.3404/j.issn.1672-7649.2018.07.012
分类号：P732
作者简介：徐侃(1990-),女,硕士,工程师,研究方向为潜艇操纵控制技术、水下机器人技术
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