基于自抗扰的自主水下航行器地形跟踪控制

doi:10.3969/j.issn.1000-1093.2015.10.016

兵工学报 ›› 2015, Vol. 36 ›› Issue (10): 1943-1948.doi: 10.3969/j.issn.1000-1093.2015.10.016

基于自抗扰的自主水下航行器地形跟踪控制

万磊，张英浩，孙玉山，李岳明

（哈尔滨工程大学水下机器人技术重点实验室, 黑龙江哈尔滨 150001）

收稿日期:2015-04-29 修回日期:2015-04-29 上线日期:2015-12-11
作者简介:万磊（1965—），男，研究员
基金资助:
中国博士后科学基金第五批特别资助项目（2012T50331）；国家“863”计划项目（2008AA092301-2）

AUV’s Bottom Following Control Method Based on ADRC

WAN Lei， ZHANG Ying-hao， SUN Yu-shan， LI Yue-ming

（State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, Heilongjiang， China）

Received:2015-04-29 Revised:2015-04-29 Online:2015-12-11

摘要/Abstract

摘要： 为保证自主水下航行器在进行地形跟踪任务时，可以更好地抵抗外界环境及自身信号传输的干扰作用，提出一种基于自抗扰控制技术的地形跟踪控制方法，可以将地形跟踪转化为水下机器人的纵倾控制，并设计有运动保护机制。在仿真实验中，利用所设计方法，进行了三维运动仿真，模拟了机器人从水面到水下完成地形跟踪任务的全过程，并与基于PID控制方法的控制器进行比较。结果表明，基于自抗扰控制技术的地形跟踪控制方法能够准确完成预定任务，同时，相比于基于PID的跟踪方法，能够更有效地抑制干扰所造成的超调和震颤等现象，具有更优的控制效果。

关键词: 控制科学与技术, 自主水下航行器, 地形跟踪控制, 自抗扰控制方法

Abstract: To make sure an autonomous underwater vehicle (AUV) have better resistance to the interference of the external environment and its own signal transmission, a bottom-following control method based on active disturbance rejection control (ADRC) is offered. The control method can transform the bottom-following control into pitch control and be designed with an AUV’s motion protection mechanism. In the simulation, a three-dimensional motion control, which is based on the proposed method, is made to simulate the whole process of AUV finishing the bottom-following task from the surface to the sea bottom. And it is compared with the control method based on PID. The results show that the ADRC-based bottom-following control method can fulfill the scheduled tasks accurately. Compared with PID, the new method has better control results, and can effectively suppress the overshoot and shake caused by interference.

Key words: control science and technology, autonomous underwater vehicle, bottom-following control, active disturbance rejection control

中图分类号:

TP24

万磊，张英浩，孙玉山，李岳明. 基于自抗扰的自主水下航行器地形跟踪控制[J]. 兵工学报, 2015, 36(10): 1943-1948.

WAN Lei， ZHANG Ying-hao， SUN Yu-shan， LI Yue-ming. AUV’s Bottom Following Control Method Based on ADRC[J]. Acta Armamentarii, 2015, 36(10): 1943-1948.

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基于自抗扰的自主水下航行器地形跟踪控制

AUV’s Bottom Following Control Method Based on ADRC

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