Trajectory Tracking Control Method for AUV Planar MotionBased on Three-Level Hierarchical Speed Regulation
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摘要: 针对自主水下航行器(AUV)水下运动时经常出现的航迹超调问题, 文中提出了一种融合自适应视线导引算法与三级递阶航速控制架构的协同控制策略，将航迹末端距离参数引入控制决策, 通过三级递阶控制策略实现航速的动态分配。仿真结果验证了基于三级递阶控制策略的动态航速调节机制的有效性, 通过实时计算AUV与期望航迹段终点的距离偏差, 控制器能够在大曲率转向需求触发前, 主动实施分级减速策略, 从而有效抑制因动量累积引发的轨迹偏移现象。对比航向航速双闭环算法, 在相同的轨迹下, 文中方法超调量减少了34.15%, 使得AUV在转弯时仍能准确沿预定轨迹行驶, 显著减少轨迹偏差。Abstract: Autonomous undersea vehicle(AUV) often encounter the problem of track overshoot when moving underwater. To address this issue, this paper proposed a cooperative control strategy that integrated the adaptive line-of-sight guidance algorithm and the three-level hierarchical speed control architecture. In this study, the distance parameter at the end of the track was introduced into the control decision, and the dynamic allocation of the speed was achieved through a three-level hierarchical control strategy. The simulation results verify the effectiveness of the dynamic speed regulation mechanism based on the three-level hierarchical control strategy. By calculating the distance deviation between the AUV and the end of the expected track section in real time, the controller can actively implement the hierarchical deceleration strategy before the large curvature turning requirement is triggered, thereby effectively suppressing the trajectory offset phenomenon caused by momentum accumulation. Compared with the heading-speed double closed-loop algorithm, under the same trajectory, the overshoot of the method in this paper is reduced by 34.15%, enabling the AUV to still accurately travel along the predetermined trajectory when turning and significantly reducing the trajectory deviation.
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图 1 水下航行器路径跟踪控制策略系统框图
Figure 1. Block diagram of the path tracking control strategy system for underwater vehiclese
图 3 三级递阶航速调节控制算法流程图
Figure 3. Flow chart of three-level hierarchical speed loop control algorithm
图 6 舵角模糊PD控制器模糊规则曲面
Figure 6. Fuzzy regular surface of rudder angle fuzzy PD controller
图 7 三级递阶航速控制与航向航速双闭环控制航迹跟踪仿真结果对比
Figure 7. Comparison of trajectory tracking simulation results between three-level hierarchical speed control and heading-speed double closed-loop control
图 8 三级递阶航速控制与航向航速双闭环控制的航速-时间曲线
Figure 8. Speed-time curves of three-level hierarchical speed control and heading-speed double closed-loop control
图 9 三级递阶航速控制与航向航速双闭环控制的航向角-时间曲线
Figure 9. Heading angle-time curves of three-level hierarchical speed control and heading-speed double closed-loop control
表 1 AUV运动学参数及符号定义
Table 1. Kinematics parameters and symbol definition of AUV
运动自由度 力与
力矩线速度及
角速度位置与姿
态变量沿x轴方向平移(进退) X u x 沿y轴方向平移(侧移) Y v y 绕z轴方向转动(回转) N r $ \psi $ 
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表 2 航向航速双闭环控制的舵角PD与航速PID控制器系数
Table 2. Rudder angle PD controller coefficient and speed PID controller coefficient under the heading-speed double closed-loop control
Kp Ki Kd 舵角PD控制器 0.1579 — 1.2481 航速PID控制器 11.7015 0.6988 22.5749
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表 3 航迹跟踪控制性能指标
Table 3. Performance indicators of track tracking control
控制方法 最大
误差/m稳态
误差/m航速调节
时间/s三级递阶航速调节控制 4.656 0.08 147 航向航速双闭环航速控制 7.071 0.09 119
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