Underwater Vehicle Control Based on Linear Active Disturbance Rejection

doi:10.12382/bgxb.2021.0769

Abstract

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

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

Figures/Tables 13

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

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

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

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

Fig. 5 State estimation of rolling channel by ESO

Fig. 6 State estimation of yaw channel by ESO

Fig. 7 State estimation of pitch channel by ESO

Fig. 8 Hydrodynamic parameter deviation by ±30%

Fig. 9 Moment of inertia deviation by ±30%

Fig. 10 Attitude response under ocean current disturbance

Fig. 11 Rudder deflection curves of LADRC and PID

Fig. 11 Horizontal comparison under different disturbance conditions

Fig. 13 Attitude angle response curves at 5 kn speed

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