洋流和未知干扰的存在影响着自主水下机器人（AUV）对接回收的成功与否，同时保证对接姿态和抗扰能力较为困难。本文提出一种基于自抗扰控制的三段式对接控制方法：在对接首段采用追踪制导，中段采用横向偏差制导，末端采用余弦曲线制导生成期望的航向角度，设计洋流观测器估计并补偿洋流，并针对AUV模型设计自抗扰控制器实现航向角跟踪。在Matlab/Simulink中建立控制模型，在不同洋流和外界随机干扰条件下仿真。仿真结果表明，设计的对接方法在洋流下可有效控制AUV的航向角和横向距离，对外界随机干扰具有一定抵抗能力，能够同时保证对接姿态和抗扰能力。
The existence of ocean currents and unknown disturbances affects the success of docking recovery of autonomous underwater vehicle (AUV), and it is difficult to ensure docking attitude and anti-disturbance ability. In this paper, a three-stage docking control method based on auto-disturbance rejection control is proposed: pure pursuit guidance is adopted in the first stage of the docking, cross-track guidance is adopted in the middle stage, and cosine curve guidance is used at the end to generate the desired heading angle. An ocean current observer is designed to estimate the ocean current velocity and realize compensation, and an active disturbance rejection controller is designed for AUV model to realize heading Angle tracking. The control model is established in Matlab/Simulink and simulated under different ocean currents and external random interference conditions. The simulation results show that the designed docking method can effectively control the heading angle and lateral distance of AUV under the interference of ocean current, and has certain resistance to external random disturbance, which can ensure the docking attitude and anti- disturbance ability at the same time.
2024,46(14): 89-96 收稿日期：2023-09-15
DOI：10.3404/j.issn.1672-7649.2024.14.015
分类号：U675.91
基金项目：中科院战略性先导科技专项（A类）（XDA22040103）；辽宁省自然科学基金计划面上项目（2022-MS-035）
作者简介：黄陶俊(1998-),男,硕士研究生,研究方向为水下机器人控制
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