针对复杂运行环境扰动导致水下航行器轨迹跟踪结果产生偏差的问题，研究船用水下航行器移动轨迹自动跟踪方法。构建船用水下航行器空间运动模型（包含运动学模型与动力学模型），设计船用水下航行器移动轨迹自动跟踪控制器，其中主要包含自适应可变参滑模控制器与扰动观测器两部分，利用扰动观测器在复杂运行环境下未知扰动的准确观测；在扰动观测器的基础上，设计自适应可变参滑模控制器，滑模控制器构建误差滑模面的同时，在当前水下环境未知扰动估计结果的影响下获取预期的虚拟控制，并针对指数项趋近系数造成的周期振动问题，将指数项趋近系数转换为自适应可变参。实验结果显示，该方法能够有效实现船用水下航行器移动轨迹自动跟踪过程中位置与速度的准确跟踪。
In response to the problem of deviation in the trajectory tracking results of underwater vehicles caused by disturbances in complex operating environments, this paper studies the automatic tracking method for the movement trajectory of underwater vehicles on ships. Construct a spatial motion model for underwater vehicles (including kinematic and dynamic models), design an automatic tracking controller for the movement trajectory of underwater vehicles, which mainly includes two parts: an adaptive variable parameter sliding mode controller and a disturbance observer, and use the disturbance observer to accurately observe unknown disturbances in complex operating environments; On the basis of disturbance observer, an adaptive variable parameter sliding mode controller is designed. The sliding mode controller constructs an error sliding mode surface and obtains the expected virtual control under the influence of unknown disturbance estimation results in the current underwater environment. To address the periodic vibration problem caused by the exponential approach coefficient, the exponential approach coefficient is converted into an adaptive variable parameter. The experimental results show that this method can effectively achieve accurate tracking of position and velocity during the automatic tracking process of underwater vehicle movement trajectory on ships.
2024,46(8): 118-121 收稿日期：2023-8-8
DOI：10.3404/j.issn.1672-7649.2024.08.021
分类号：TP273
作者简介：薛永春(1985-),男,讲师,研究方向为机械结构设计
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