欠驱动自主水下航行器(autonomous underwater vehicle，AUV)深度控制是完成水下作业任务的重要基础，为了在复杂海况中抑制外界产生的干扰，更稳定地实现欠驱动AUV垂直面上的定深运动控制，设计基于虚拟控制律和反步法结合的滑模控制器(sliding mode controller，SMC)。 首先，引入固定坐标系和运动坐标系之间的坐标转换，建立垂直面运动误差模型，将深度误差的镇定转换为纵倾角和纵倾角速度误差的镇定；然后利用李雅普诺夫（Lyapunov）稳定性理论证明控制器的稳定性。最后，仿真结果和海试表明，本文设计的控制器能够有效完成给定深度的运动控制，且对外界干扰有一定的鲁棒性。
Depth control of underactuated autonomous underwater vehicle (AUV) is an important basis for completing Underwater operations. The sliding mode controller (SMC) is designed based on the combination of virtual control law and backstepping method, in order to suppress external disturbance in complex sea conditions and realize the AUV’s depth motion control effectively on the vertical surface. Firstly, the coordinate transformation between the fixed coordinate system and the moving coordinate system is introduced, then the motion error model of the vertical plane is established. The stabilization of the depth error is converted to the stabilization of the pitch angle and the pitch velocity error by using the virtual control variable. Then Lyapunov stability theory is used to prove the stability of the controller. Finally, the simulation results and test experiments show that the controller designed in this paper can effectively complete the motion control of the given depth, and has a certain robustness to the disturbance added by the outside.
2023,45(1): 114-119 收稿日期：2021-07-19
DOI：10.3404/j.issn.1672-7649.2023.01.020
分类号：TP273
基金项目：国家重点研发计划项目（2019YFC1408304）
作者简介：吴子明(1996-),男,硕士研究生,研究方向为水下机器人运动控制仿真
