基于自抗扰方法的UUV近水面垂直面运动控制

施小成; 陈 江; 严浙平

doi:10.11993/j.issn.1673-1948.2011.03.011

基于自抗扰方法的UUV近水面垂直面运动控制

doi: 10.11993/j.issn.1673-1948.2011.03.011

哈尔滨工程大学自动化学院, 黑龙江哈尔滨, 150001

详细信息

作者简介:
施小成(1957-), 男, 博士生导师, 教授, 主要从事船舶与潜器的控制方面的研究工作.

中图分类号: TJ 630.33; TP273
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- 文章访问数: 1981
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- 被引次数: 0
出版历程
- 收稿日期: 2011-03-07
- 修回日期: 2011-05-03
- 刊出日期: 2011-06-30

Vertical Plane Motion Control of UUV Near Free-surface Based on Active Disturbance Rejection Controller

College of Automation, Harbin Engineering University, Hrbin 150001, China

摘要

摘要: 无人水下航行器(UUV)在近水面航行时, 受到海浪、噪声等干扰的影响较大, 尤其是垂直面方向, 为满足UUV在近水面潜伏作战的需求, 研究了基于自抗扰控制方法(ADRC)的运动控制技术。该技术抗干扰能力强, 能将来自系统内部和外部的扰动都归结为系统的总扰动, 并对其进行实时估计同时给予相应的扰动补偿, 运用此方法设计了UUV垂直面控制器并分析了其抗扰性能, 以解决海洋环境下UUV近水面垂直面运动的控制扰动问题。仿真结果表明, 所设计的UUV垂直面自抗扰控制器能有效抑制海浪的干扰, 降低艉升降舵的抖振现象, 具有较好的控制效果和抗扰性能。
- 无人水下航行器 /
- 垂直面运动 /
- 自抗扰控制器 /
- 艉升降舵 /
- 抖振现象
Abstract: Unmanned underwater vehicle (UUV) is influenced by waves and noise, especially in the vertical direction, when it navigates near free-surface. In order to meet latency operation demand of UUV near the free-surface, we discuss a motion control technology based on active disturbance rejection controller (ADRC). This technology has stronger anti-interference capability, can combine the internal and external disturbances into the general disturbance of the system, and gives real-time estimates for the corresponding disturbance compensation. To solve the control disturbance problems of vertical plane motion for UUV near free-surface in ocean environment, we design a vertical plane motion controller of UUV by using this technology, and analyze its anti-disturbance performance. Simulation results show that the designed controller can effectively restrain the interference of waves and reduce the buffeting phenomenon of stern elevator, and has good control effect and anti-disturbance performance.
- unmanned underwater vehicle(UUV) /
- vertical plane motion /
- active disturbance rejection controller (ADRC) /
- stern elevator /
- buffeting phenomenon

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参考文献(7)

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