基于无模型自抗扰的AUV深度控制研究
Research on AUV depth control based on model-free active disturbance rejection control
王通 1严天宏 1徐晓婷 2赵昕宇 2张意晓 2沈钺 2何波2
作者信息
- 1. 中国计量大学机电工程学院,浙江杭州 310018
- 2. 中国海洋大学信息科学与工程学部,山东青岛 266100
- 折叠
摘要
针对自主式水下航行器(AUV)在海洋中易受海流海浪扰动的问题,本文提出一种基于自抗扰的无模型自适应深度控制方法(ADR-MFAC).首先,通过引入无模型自适应控制律,解决AUV难以建立精确的数学模型的问题;其次,设计出AUV深度控制器,结合自抗扰控制算法来进一步提高控制器干扰性能,采用跟踪微分器对输入信号进行跟踪,并利用线性状态观测器来估计系统所受扰动.最后,通过仿真和海试验证了 ADR-MFAC的控制性能:与PID控制相比,ADR-MFAC在保持较高控制精度的同时,超调量减小了 51％,深度调节时间减小了 21.4％,证明了 ADR-MFAC在受到海流干扰时也可以实现稳定的深度控制,算法具有较强的鲁棒性.
Abstract
In addressing the challenge of disturbances from ocean currents and waves affecting autonomous underwa-ter vehicles(AUVs),this paper introduces a model-free,adaptive depth control method based on active disturbance rejection control(ADR-MFAC).Firstly,by incorporating model-free adaptive control laws,it resolves the difficulty of establishing precise mathematical models for AUVs.Secondly,an AUV depth controller is designed,combining the active disturbance re-jection control algorithm to further enhance the controller's disturbance rejection capabilities.This involves utilizing a track-ing differentiator for input signal tracking and leveraging a linear state observer for estimating system disturbances.Finally,the control performance of ADR-MFAC is validated through simulations and sea trials.In comparison to PID control,ADR-MFAC maintains higher control precision while reducing overshoot by 51％and decreasing depth adjustment time by 21.4％.This demonstrates that ADR-MFAC can achieve stable depth control even in the presence of disturbances from ocean cur-rents,highlighting the algorithm's robustness.
关键词
自主式水下航行器/自抗扰控制/无模型控制/深度控制Key words
autonomous underwater vehicle(AUV)/active disturbance rejection control(ADRC)/model-free con-trol/depth control引用本文复制引用
基金项目
浙江自然科学基金资助项目(LTGG23E090002)
出版年
2024
NETL
NSTL
万方数据