基于辨识模型集的无人半潜水下机器人系统深度动态滑模控制切换策略研究

doi:10.3969/j.issn.1000-1093.2017.11.016

兵工学报 ›› 2017, Vol. 38 ›› Issue (11): 2198-2206.doi: 10.3969/j.issn.1000-1093.2017.11.016

基于辨识模型集的无人半潜水下机器人系统深度动态滑模控制切换策略研究

周焕银^1,2, 刘亚平¹，胡志强²，刘开周², 衣瑞文²

(1.东华理工大学机械与电子工程学院，江西南昌 330013； 2.中国科学院沈阳自动化研究所机器人学国家重点实验室，辽宁沈阳 110016）

收稿日期:2017-01-05 修回日期:2017-01-05 上线日期:2018-01-03
作者简介:周焕银(1975—), 女, 副教授，硕士生导师。 E-mail: hyzou@ecit.cn
基金资助:
国家自然科学基金项目（51409047、61403150）

Switching Strategy of Dynamic Sliding Mode Control Based on Multiple Identification Model Set for Unmanned Semi-submersible Vehicle

ZHOU Huan-yin^1,2 , LIU Ya-ping¹, HU Zhi-qiang², LIU Kai-zhou²， YI Rui-wen²

(1.School of Mechanical and Electrical Engineering, East China University of Technology, Nanchang 330013, Jiangxi, China; 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, Liaoning, China)

Received:2017-01-05 Revised:2017-01-05 Online:2018-01-03

摘要/Abstract

摘要： BQ-01无人半潜水下机器人深度运动模型参数未知，无法为基于模型的控制策略提供控制参数，导致该系统不易快速达到预期的性能指标要求，为此提出一种多辨识模型动态滑模控制方法。该控制方法采用平均拟合偏差方法，减少了系统辨识过程中出现过多冗余辨识模型参数组，以切换的方式为动态滑模控制方法选取最佳模型参数；同时采用状态反馈方法实现滑模面抖动指数衰减，从而解决了系统深度运动调节问题。BQ-01系统湖泊试验结果表明，所提辨识方法能够为滑模控制策略提供最佳控制参数，且提高了系统运动控制品质。

关键词: 控制科学与技术, 无人半潜水下机器人, 辨识模型, 动态滑模控制, 控制品质

Abstract: The control parameters can not be provided for the model-based control algorithm, which leads to the undesirable control performances of the system since the depth motion model parameters regarding the unmanned semi-submersible vehicles (USVs ) BQ-01 are unknown. For this purpose, a multi-identification model-based dynamic sliding mode control algorithm is presented for the investigation of system's control problem on the desired depth. In the proposed algorithm, the average-fitting-error method is used to reduce the excessive redundant model parameters, and thus the optimum model parameters is provided for the control algorithm by switching methods. And the state feedback method is used to bring about the chattering exponential decay of sliding mode controller so as to reduce the settling time. The experimental results of lake trials demonstrates that the proposed algorithm could offer the best model parameters for sliding mode control, and the dynamic sliding mode control with multi-identification models is capable of ensuring BQ-01 system to achieve the ideal control performance. Key

Key words: controlscienceandtechnology, unmannedsemi-submersiblevehicle, multipleidentificationmodel, dynamicslidingmodecontrol, controlperformance

中图分类号:

TP273

周焕银, 刘亚平，胡志强，刘开周, 衣瑞文. 基于辨识模型集的无人半潜水下机器人系统深度动态滑模控制切换策略研究[J]. 兵工学报, 2017, 38(11): 2198-2206.

ZHOU Huan-yin , LIU Ya-ping, HU Zhi-qiang, LIU Kai-zhou， YI Rui-wen. Switching Strategy of Dynamic Sliding Mode Control Based on Multiple Identification Model Set for Unmanned Semi-submersible Vehicle[J]. Acta Armamentarii, 2017, 38(11): 2198-2206.

参考文献

［1］ Garus J, Szymak P. Semiautomatic Control of self-propelled mine counter charge in plane motion[C]∥ Proceedings of the 8th WSEAS International Conference on Electric Power Systems, High Voltages, Electric Machines. Venice, Italy:World Scientific and Engineering Academy and Society , 2008: 217-221.
[2] Hunter R S, Brown C, Jenkins L K, et al. Bathy boat: an autonomous surface vessel for stand-alone survey and underwater vehicle network supervision[J]. Marine Technology Society Journal, 2010, 44(4):20-29.
[3] Liu Y F, Noguchi N. Development of an unmanned surface vehicle for autonomous navigation in a paddy field[J]. Engineering in Agriculture, Environment and Food, 2016, 9(1):21-26.
[4] Alleman P, Kleiner A, Steed C, et al. Development of a new unmanned semi-submersible (USS) vehicle[C]∥ Proceedings of Oceans 2009 Conference. Biloxi, MS, US:IEEE,2009 : 2416-2421.
[5] 冀大雄, 任申真，胡志强. 弱通信条件下USV对AUV的自主跟踪控制研究[J]. 科学通报, 2013, 58(增刊) ：49-54.
JI Da-xiong, REN Shen-zhen,HU Zhi-qiang. Autonomous tracking unmanned underwater vehicle using unmanned surface vehicle under the condition of weak communication[J]. Science China Press, 2013, 58(S): 49-54. (in Chinese)
[6] 沈建森, 周徐昌，高璇. 远程AUV近水面运动纵向模糊滑模控制[J]. 鱼雷技术, 2011, 19(5): 360-364.
SHEN Jian-sen, ZHOU Xu-chang, GAO Xuan. Fuzzy sliding mode control for near-surface AUV in longitudinal plane[J].Torpedo Techenology, 2011, 19(5): 360-364. (in Chinese)
[7] 严浙平, 李聪聪, 张宏瀚,等. 基于海浪干扰滤波器的UUV近水面深度控制[J]. 船舶工程, 2013, 35(4): 71-74.
YAN Zhe-ping, LI Cong-cong, ZHANG Hong-han,et al. Depth control for UUVs manoeuvring near-surface based on wave disturbance filter[J]. Ship Engineering, 2013, 35(4): 71-74.(in Chinese)
[8] Silvestre C, Pascoal A. Depth control of the INFANTE AUV using gain-scheduled reduced order output feedback [J]. Control Engineering Practice, 2007, 15(7):883-895.
[9] 魏延辉, 周卫祥, 陈巍, 等. 基于NDO的ROV变深自适应终端滑模控制器设计[J]. 控制与决策, 2016, 31(2): 373-377.
WEI Yan-hui, ZHOU Wei-xiang, CHEN Wei,et al. Design of adaptive terminal sliding mode controller based on nonlinear disturbance observer for ROV depth changing[J]. Control and Decision, 2016, 31(2): 373-377. (in Chinese)

[10] Zhou H Y, Liu K Z, Li Y P ，et al. Dynamic sliding mode control based on multiple for the depth control of autonomous underwater vehicles[J]. International Journal of Advanced Robotic Systems, 2015, 12(7):1-10.
[11] 白伟伟,任俊生,李铁山,等. 基于局部最优LWL的船舶操纵运动辨识建模[J]. 哈尔滨工程大学学报, 2017, 38(5): 676-683.
BAI Wei-wei，REN Jun-sheng, LI Tie-shan, et al.Locally optimal-based LWL identification modeling for ship manoeuvring motion[J]. Journal of Harbin Engineering University, 2017,38(5): 676-683. (in Chinese)
[12] Sonnenburg C R, Woolsey C A. Modeling, identification, and control of an unmanned surface vehicle[J]. Journal of Field Robotics, 2013, 30(3):371-398.
[13] 董早鹏, 万磊, 孙玉山, 等. 基于非对称模型的欠驱动无人海洋运载器轨迹跟踪控制[J]. 兵工学报, 2016, 37(3): 471-481.
DONG Zao-peng, WAN Lei, SUN Yu-shan, et al.Trajectory tracking control of an underactuated unmanned marine vehicle based on asymmetric model[J].Acta Armamentarii, 2016, 37(3): 471-481.(in Chinese)
[14] 梁辉, 童朝南. 基于减法聚类的带钢厚度数据驱动建模[J]. 北京科技大学学报, 2012, 34(11):1338-1345.
LIANG Hui, TONG Chao-nan. Online data-driven modeling for strip thickness based on subtractive clustering[J]. Journal of University of Science and Technology Beijing, 2012, 34（11）:1338-1345. (in Chinese)
[15] 段朝阳，张艳，邵雷登，等. 基于多模型在线辨识的滑模变结构控制[J]. 上海交通大学学报, 2011, 45(3):403-407.
DUAN Chao-yang, ZHANG Yan, SHAO Lei-deng, et al. Sliding mode variable structure control based on multi-model on-line identification [J]. Journal of Shanghai Jiao Tong University, 2011, 45(3): 403-407.(in Chinese)
[16] 胡坤, 张孝芳, 刘常波. 基于遗传算法的无人水下航行器深度自抗扰控制[J]. 兵工学报, 2013, 34(2):217-222.
HU Kun, ZHANG Xiao-fang, LIU Chang-bo.Unmanned underwater vehicle depth ADRC based on genetic algorithm near surface[J]. Acta Armamentarii, 2013, 34(2):217-222. (in Chinese)
[17] 朱胜庭，朱大奇，邓志刚. 多信息最小二乘法辨识水下机器人动力学模型[J]. 系统仿真学报，2013,25(6):1399-1404.
ZHU Sheng-ting, ZHU Da-qi,DENG Zhi-gang. Identification of underwater vehicle dynamic model using multi-innovation least square algorithm[J]. Journal of System Simulation, 2013,25(6): 1399-1404.(in Chinese)
[18] Fossen T I. Guidance and control of ocean vehicles[M]. New York, NY, US:John Willey & Sons Ltd, 1994：21-56.
[19] 蒋新松，封锡盛，王棣堂. 水下机器人[M].沈阳:辽宁科学技术出版社, 2000.
JIANG Xin-song, FENG Xi-sheng, WANG Di-tang. Underwater vehicles[M]. Shenyang: Liaoning Science and Technology Press,2000. (in Chinese)

[20] 丁峰. 系统辨识新论[M]. 北京:科学出版社, 2013.
DING Feng. New theories of system identification[M].Beijing: Science Press, 2013. (in Chinese)

[21] Zhou H Y, Liu K Z, Feng X S. State feedback sliding mode control without chattering by constructing Hurwitz matrix for AUV movement[J]. International Journal of Automation and Computing, 2011, 8(2): 262-268.

第38卷
第11期2017 年11月兵工学报ACTA
ARMAMENTARIIVol.38No.11Nov.2017

[1]	苗建明，王少萍，范磊，李元. 欠驱动自主水下航行器空间曲线路径跟踪控制研究[J]. 兵工学报, 2017, 38(9): 1786-1796.
[2]	查峰，覃方君，李京书，叶斌. 三轴旋转惯性导航系统的旋转控制建模研究[J]. 兵工学报, 2017, 38(8): 1610-1618.
[3]	伍明，张国良，李琳琳，付光远，李承剑. 基于动态和静态环境对象观测一致性约束的移动机器人多传感器标定优化方法[J]. 兵工学报, 2017, 38(8): 1630-1641.
[4]	王世峰，都凯悦，孟颖，王锐. 基于机器学习的车辆路面类型识别技术研究[J]. 兵工学报, 2017, 38(8): 1642-1648.
[5]	周荻，董金鲁. 带襟翼的飞行器非线性控制系统分析和设计[J]. 兵工学报, 2017, 38(7): 1322-1329.
[6]	郑睿，赵伟，方明星，杜友武. 基于多圈环绕结构的超流体陀螺噪声抑制方法[J]. 兵工学报, 2017, 38(7): 1330-1335.
[7]	邢丽, 熊智, 刘建业, 杭义军. 基于对偶四元数的圆锥及划船误差补偿改进算法[J]. 兵工学报, 2017, 38(7): 1336-1347.
[8]	庞辉, 陈嘉楠, 刘凯. 汽车磁流变半主动悬架系统自适应反推跟踪控制[J]. 兵工学报, 2017, 38(7): 1430-1442.
[9]	马艳彤，郑荣，韩晓军. 面向海底光学探测使命的自治水下机器人水平路径跟随控制[J]. 兵工学报, 2017, 38(6): 1147-1153.
[10]	陈慧岩，陈舒平，龚建伟. 智能汽车横向控制方法研究综述[J]. 兵工学报, 2017, 38(6): 1203-1214.
[11]	廖自力，阳贵兵，高强，袁东. 多轮独立电驱动车辆转向稳定性集成控制研究[J]. 兵工学报, 2017, 38(5): 833-842.
[12]	王斌锐，沈国阳，金英连，王凌. 基于干扰观测器的级联气动肌肉肘关节滑模控制[J]. 兵工学报, 2017, 38(4): 793-801.
[13]	李阁强，顾永升，李健，李跃松，郭冰菁. 被动式电液力伺服系统的自适应反步滑模控制[J]. 兵工学报, 2017, 38(3): 616-624.
[14]	江梦洁，李家旺，吕艳芳，周家炜，黄汉涛. 饱和输入限制下欠驱动自主水下航行器水平面航迹跟踪控制[J]. 兵工学报, 2017, 38(11): 2207-2213.
[15]	黄欣，熊智，许建新，徐丽敏. 基于零速/航向自观测/地磁匹配的行人导航算法研究[J]. 兵工学报, 2017, 38(10): 2031-2040.

基于辨识模型集的无人半潜水下机器人系统深度动态滑模控制切换策略研究

Switching Strategy of Dynamic Sliding Mode Control Based on Multiple Identification Model Set for Unmanned Semi-submersible Vehicle

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价