基于线性自抗扰的水下运载器控制

doi:10.12382/bgxb.2021.0769

摘要/Abstract

摘要：

针对水下运载器强非线性、强耦合、外界干扰、自身参数不确定的影响，基于线性自抗扰控制提出一种姿态解耦控制方法。将水下运载器各控制通道的相互耦合以及内外部的干扰作为总和扰动，通过扩张状态观测器对其进行估计，并引入到反馈控制器中进行补偿，使原非线性系统转化成线性系统，实现解耦控制。引入虚拟控制量，对舵引起的耦合进行解耦。基于此控制系统和水下运载器非线性动力学模型，给出稳定性分析。仿真结果表明，基于线性自抗扰的控制器具有响应快速、超调与稳态误差小、鲁棒性强的特点，较PID控制动态性能与抗干扰能力有较大提升。

关键词: 控制理论, 姿态控制, 水下运载器, 线性自抗扰, 多通道解耦

Abstract:

To deal with the influence of strong nonlinearity, strong coupling, external disturbance and uncertain parameters of underwater vehicle, an attitude decoupling control method based on linear active disturbance rejection control is proposed. The mutual coupling of each control channel of the underwater vehicle and the internal and external disturbances are regarded as the total disturbance, which is estimated by the extended state observer and introduced into the feedback controller for compensation. The original nonlinear system is transformed into a linear system to realize decoupling control. The virtual control quantity is introduced to decouple the coupling caused by the rudder. Based on the control system and the nonlinear dynamic model of the underwater vehicle, the stability analysis is given. The simulation results show that the controller based on linear active disturbance rejection has the characteristics of fast response, small overshoot and steady-state error, and strong robustness. Compared with PID control, the dynamic performance and anti-disturbance ability are greatly improved.

Key words: control theory, attitude control, underwater vehicle, linear active disturbance rejection, multi-channel decoupling

高全喜, 可伟, 乔海岩. 基于线性自抗扰的水下运载器控制[J]. 兵工学报, 2023, 44(3): 783-791.

GAO Quanxi, KE Wei, QIAO Haiyan. Underwater Vehicle Control Based on Linear Active Disturbance Rejection[J]. Acta Armamentarii, 2023, 44(3): 783-791.

图/表 13

图1 基于LADRC的水下运载器姿控回路

Fig. 1 Attitude control loop of the underwater vehicle based on LADRC

图2 水下运载器姿控内回路解耦控制框图

Fig. 2 Decoupling control block diagram of attitude control inner loop of the underwater vehicle

图 3 横滚、偏航与俯仰通道姿态角响应曲线

Fig. 3 Attitude angle response curves of roll, yaw and pitch channels

图 4 横滚、偏航与俯仰通道舵偏角曲线

Fig. 4 Ruder deflection curves of roll, yaw and pitch channels

图 5 ESO对横滚通道状态量估计

Fig. 5 State estimation of rolling channel by ESO

图 6 ESO对偏航通道状态量估计

Fig. 6 State estimation of yaw channel by ESO

图 7 ESO对俯仰通道状态量估计

Fig. 7 State estimation of pitch channel by ESO

图 8 水动力参数拉偏±30%

Fig. 8 Hydrodynamic parameter deviation by ±30%

图 9 转动惯量拉偏±30%

Fig. 9 Moment of inertia deviation by ±30%

图 10 海流干扰下的姿态响应

Fig. 10 Attitude response under ocean current disturbance

图 11 LADRC与PID的舵偏角曲线

Fig. 11 Rudder deflection curves of LADRC and PID

图 12 不同干扰条件下的横向对比

Fig. 11 Horizontal comparison under different disturbance conditions

图 13 5 kn航速下姿态角响应曲线

Fig. 13 Attitude angle response curves at 5 kn speed

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