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基于线性自抗扰控制的AUV深度控制研究
Research on AUV depth control based on linear active disturbance rejection control
- DOI:
- 作者:
- 楼鉴路, 李文魁, 周铸, 朱天高, 张煦光
LOU Jian-lu, LI Wen-kui, ZHOU Zhu, ZHU Tian-gao, ZHANG Xu-guang
- 作者单位:
- 海军工程大学 电气工程学院, 湖北 武汉 430033
College of Electrical Engineering, Naval University of Engineering, Wuhan 430033, China
- 关键词:
- 自主式水下航行器;线性自抗扰控制;正切Sigmoid函数;深度控制;节能
autonomous underwater vehicle (AUV); linear active disturbance rejection control (LADRC); tangent sigmoid function; depth control; energy saving
- 摘要:
- 自主式水下航行器具有非线性、时变性、耦合性强且易受干扰等特点，为进一步提高AUV的深度控制效果，建立六自由度空间运动模型和执行机构响应模型，将线性自抗扰控制方法引入航行器深度控制，使用基于正切Sigmoid函数的跟踪微分器优化了线性自抗扰控制方法。将上述方法应用于深度控制实验中，并从控制精度和操舵能耗两方面评价其控制效果。仿真结果表明，在无干扰条件下，与S面控制方法相比，改进后的线性自抗扰方法在具有较高控制精度的同时平均操舵能耗指标下降了55.9%，且在内外扰动作用下保持了较高的控制精度和较少的操舵能耗，体现了较好的鲁棒性和节能特性。
Autonomous underwater vehicles (AUVs) are nonlinear, time-variant, strongly coupled and easily disturbed. To improve the control effect, six-degree-of-freedom space motion model and actuator response models are established and the linear active disturbance rejection control (LADRC) method is used to the depth control of the vehicles. Using tracking differentiator based on tangent Sigmoid function to optimize the linear active disturbance rejection control method. The above method is applied to the depth control experiment, and its control effect is evaluated from the aspects of control accuracy and steering energy consumption. The simulation results show that, compared with the S-plane control method, the modified LADRC method has higher control accuracy and reduces the steering energy consumption by 23.5% under the condition of no disturbance. And under the action of internal and external disturbances, the it maintains high control accuracy and less steering energy consumption, which reflects robustness and energy-saving performance.
2023,45(6): 96-101 收稿日期：2022-03-24
DOI：10.3404/j.issn.1672-7649.2023.06.018
分类号：TP273
基金项目：国家自然科学基金资助项目（42174051）
作者简介：楼鉴路(1998-)，男，硕士研究生，研究方向为组合导航与智能化测控技术
