基于改进型ADRC的全驱动AUV建模与仿真

王 震; 王俊雄; 牛啸辰; 苏 伟

doi:10.11993/j.issn.2096-3920.2021.01.007

基于改进型ADRC的全驱动AUV建模与仿真

doi: 10.11993/j.issn.2096-3920.2021.01.007

上海交通大学船舶海洋工程国家重点实验室, 上海, 200240

详细信息

作者简介:
王震(1996-), 男, 硕士, 主要研究方向为水下机器人路径跟踪.

中图分类号: TJ630.33 TP13
计量
- 文章访问数: 300
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- PDF下载量: 181
- 被引次数: 0
出版历程
- 收稿日期: 2019-12-04
- 修回日期: 2020-04-04
- 刊出日期: 2021-03-01

Modeling and Simulation of Fully Actuated AUV Based on Modified ADRC

State Key Laboratory of Ocean Engineering, Shanghai Jiaotong University, Shanghai 200240, China

摘要

摘要: 自主水下航行器(AUV)具有非线性、强耦合且易受外界干扰等特点。为进一步提高AUV的控制精度, 文中首先对六自由度全驱动AUV进行了建模, 并搭建了相应的比例-积分-微分(PID)控制器和自抗扰控制器(ADRC), 对比分析可知, 传统ADRC待调整参数过多且跟踪微分器(TD)环节速度较慢。针对此, 采用Asin函数对传统ADRC的各环节进行了简化, 改进了TD的结构, 并在相同仿真条件下对PID控制器及改进型ADRC控制器的控制效果进行了仿真。结果表明, 在对多自由度运动系统进行控制时, 改进型ADRC相较于PID的控制精度更高, 抗干扰能力也更强。
- 自主水下航行器 /
- 自抗扰控制器 /
- 比例-积分-微分控制 /
- 路径跟踪
Abstract: Autonomous undersea vehicles(AUVs) are nonlinear, strongly coupled, and vulnerable to external disturbances. To improve the control accuracy of AUVs, a 6-degree-of-freedom fully actuated AUV is modeled, and a proportional integral derivative(PID) controller and auto disturbance rejection controller(ADRC) are built. A comparative analysis reveals that the traditional ADRC has too many parameters to adjust, and the tracking speed of each link of the tracking differentiator(TD) is slow. Therefore, the Asin function is used to simplify each link of the traditional ADRC, and the structure of the TD is improved to solve the problem of slow tracking speed. The control effect of the PID and modified ADRC is simulated under the same simulation conditions. Simulation results show that the modified ADRC has higher control accuracy and stronger anti-disturbance ability than PID when the motion of a multi-freedom system is controlled.
- autonomous undersea vehicle(AUV) /
- auto disturbance rejection controller(ADRC) /
- proportional integral de-rivative(PID) control /
- path tracking

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参考文献(14)

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