新型远程自主水下航行器侧向滑模变结构控制

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基金项目: 教育部新世纪优秀人才支持计划及水下信息处理与控制国家科技重点实验室基金资助

Lateral Sliding Mode Control of a New Type Long Distance Autonomous Underwater Vehicle

1.
College of Marine Engineering, Northwestern Polytechnical University, Xi′an 710072,China
2.
National Key Laboratory for Underwater Information Process & Control, Xi′an 710072,China

摘要: 根据新型远程自主水下航行器操纵机构的组成和特点，建立了其侧向运动的非线性数学模型，并进行了线性化处理。在此基础上，基于变结构控制理论，分别研究了基于垂直舵的侧向低速巡航控制和高速巡航控制及基于前、后侧向推进器的悬停转向控制。仿真结果表明,该控制器可满足水下航行器侧向巡航控制和悬停转向控制的需要，并对参数不确定性和未建模动态都具有良好的鲁棒性。
- 自主水下航行器 /
- 变结构控制 /
- 巡航控制 /
- 悬停控制
Abstract: According to the structure and characteristics of the manipulators for a new type long distance autonomous underwater vehicle(AUV) experimented in Northwestern Polytechnical University, the nonlinear laterally kinematical equations of AUV are established and linearized. Based on these linearized equations and the sliding mode control theory, the low speed and high speed cruise sliding mode controls of the rudder, and the hover sliding mode control of the lateral cross-body thrusters at both bow and stern are designed. The simulation results show that the sliding mode controller adapts to the three control modes, and is robust to parameter uncertainty and non-modelled dynamic mode.
- autonomous underwater vehicle(AUV) /
- sliding mode control /
- cruise control /
- hover control

[1]	严卫生.某新型远程自主水下航行器建模研究，西北工业大学学报，2006, 24 (4) : 457-462.
[2]	Anthony J. Healey, and David Lienard. Multivariable Sliding Mode Control for Autonomous Diving and Steering of Unmanned Underwater Vehicles. IEEE Journal of Oceanic Engineering, 1993, 18:327-338.
[2]	Anthony J. Healey, and David Lienard. Multivariable Sliding Mode Control for Autonomous Diving and Steering of Unmanned Underwater Vehicles. IEEE Journal of Oceanic Engineering, 1993, 18:327-338.