为提高水下机器人（ROV）在水域环境中的位姿控制能力，结合传统自抗扰控制（Active Disturbance Rejection Control,ADRC）策略中fal函数在分段处过渡不够平滑的特点，提出一种新型非线性函数，用以改进传统fal函数。利用双曲正切函数在原点附近单调递增且连续光滑的特征，通过多项式拟合的方法构建出非线性函数sfal函数，然后使用李雅普诺夫方法对sfal函数进行稳定性分析，基于sfal函数给出扩张状态观测器的一般形式，并由此设计改进的ADRC控制器，通过对控制对象ROV搭建数学模型，利用Matlab/Simulink对系统的输出进行仿真与数值分析。最后，在ROV平台上进行对比实验，实验结果表明，改进型自抗扰控制能够有效抑制系统响应的超调量，并提升ROV位姿状态的抗扰能力。
In order to improve the pose control ability of Remotely Operated Vehicle(ROV) in water environment, a new nonlinear function is proposed to improve the traditional fal function, which is not smooth enough in the transition of fal function in traditional Active Disturbance Rejection Control (ADRC) strategy. By adopting the monotonic increasing and continuous smooth characteristic of hyperbolic tangent function near the origin, the nonlinear function sfal function is constructed by polynomial fitting. Then the stability of sfal function is analyzed by Lyapunov method. Based on sfal function, the general form of extended state observer(ESO) is given, and an improved ADRC is designed. Finally, the mathematical model of ROV is established, and the output of the system is simulated and analyzed by Matlab/Simulink. Finally, a comparative experiment is carried out on the ROV platform. The experimental results show that the improved ADRC can effectively suppress the overshoot of the system response and improve the anti-disturbance ability of the ROV pose state.
2024,46(18): 91-98 收稿日期：2024-3-12
DOI：10.3404/j.issn.1672-7649.2024.18.016
分类号：TP273
基金项目：国家重点研发计划资助项目（2020YFC1521704）
作者简介：王翻(1998-),男,硕士研究生,研究方向为缆控水下机器人
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