Research on Parameter Tuning Method of ADRC for AUV Based on VRFT
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摘要: 自抗扰控制不依赖模型, 抗干扰能力强, 可以很好地解决自主水下航行器模型不确定性和外部环境复杂的问题, 然而自抗扰控制器的参数整定存在一定困难, 针对该问题, 提出了一种基于虚拟参考反馈整定的自抗扰控制器参数整定方法。首先针对自主水下航行器艏摇模型设计了自抗扰控制器; 其次给出了基于虚拟参考反馈整定的自抗扰控制器参数整定方法; 最后针对角度传感器延迟问题给出了基于史密斯预估器的自抗扰控制器设计方法。仿真证明, 该方法能够在模型信息未知的情况下, 仅通过开环实验的输入输出数据, 对AUV自抗扰控制器参数进行整定, 达到期望的控制效果。Abstract: Active disturbance rejection control (ADRC) is model-independent and exhibits strong robustness against disturbances, effectively addressing the uncertainties of autonomous undersea vehicle (AUV) models and complex external environments. However, parameter tuning for ADRC presents certain difficulties. To tackle this issue, a parameter tuning method based on virtual reference feedback is proposed. Initially, an ADRC controller is designed for the yaw model of the AUV. Subsequently, a parameter tuning method for ADRC based on virtual reference feedback tuning is presented. Finally, to address the issue of angular sensor delay, a design method for ADRC based on Smith predictor is proposed. The simulation results demonstrate that this method can tune the parameters of ADRC for underwater robots solely based on the open-loop experimental data under the condition of unknown model information., achieving the desired control effect.
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图 6 AUV艏摇模型阶跃响应与控制输出(SP-ADRC)
Figure 6. Step response and controller outputs of AUV yaw model(SP-ADRC)
图 7 LADRC、H-infinity与SP-ADRC响应对比
Figure 7. Comparison of LADRC, H-infinity and SP-ADRC responses
图 8 扰动作用下的阶跃响应与控制输出(SP-ADRC)
Figure 8. Step response and controller outputs under disturbances(SP-ADRC)
表 1 艏摇模型变量定义与取值
Table 1. Definition and values of yaw
变量 定义 参数值 $ {I_{{\text{YRB}}}}/({\text{kg}} \cdot {{\text{m}}^2}) $ 刚体转动惯量 $ {\text{0}}{\text{.357}}\;{\text{8}} $ $ {I_{{\text{YA}}}}/({\text{kg}} \cdot {{\text{m}}^2}) $ 附加转动惯量 $ {\text{0}}{\text{.138 0}} $ $ {D_{{\text{YN}}}} $ 标称非线性阻尼系数 0.249 6 $ {D_{{\text{YL}}}} $ 标称线性阻尼系数 0.021 0 $ {\dot x_r} $/($ {\text{rad/s}} $) 转动角速度 0~4 $ {\tau _i} $/$ {\text{N}} \cdot {\text{m}} $ 推进器力矩输入 0~6 
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