基于改进自抗扰控制的AUV回收姿态控制研究
Research on AUV recovery attitude control based on improved active disturbance rejection control
王秋生 1齐向东 1薛晨阳 1刘丹 1王永华 1王景楠1
作者信息
- 1. 中北大学仪器科学与动态测试教育部重点实验室,山西太原 030051
- 折叠
摘要
针对自主水下潜航器(AUV)在近距离水下回收过程中对接姿态稳定控制的需求,在建立AUV空间运动数学模型的基础上,设计一款姿态跟踪的自抗扰控制器(ADRC),并对干扰补偿通道进行平滑低通滤波优化.通过对系统总扰动进行实时估计和补偿,实现对姿态误差的控制调整.以常值、阶跃扰动、高频正弦扰动3种波形作为预设姿态值,在Matlab/Simulink中进行仿真对比实验.结果表明,相较于传统PID控制器,该控制系统具有较快的响应速度,同时能够有效抑制外界扰动,可用于AUV回收姿态控制.
Abstract
To meet the demand of docking attitude stabilization control of an autonomous underwater vehicle(AUV)during near-field underwater recovery,based on the mathematical model of AUV spatial motion,an active disturbance rejec-tion controller(ADRC)for attitude tracking is designed and optimized with smooth low-pass filtering for its interference compensation channel.The control adjustment of the attitude error is realized by real-time estimation and compensation of the total system disturbance.Three waveforms of constant value,step disturbance,and high frequency sinusoidal disturb-ance are used as preset attitude values for simulation and comparison experiments in Matlab/Simulink.The results show that compared with the traditional PID controller,the control system has a faster response speed,and at the same time,it can ef-fectively suppress the external disturbance and be used for attitude control during AUV recovery.
关键词
自主水下潜航器/自抗扰控制器/PID控制器/姿态控制Key words
autonomous underwater vehicle/active disturbance rejection controller/PID controller/attitude control引用本文复制引用
出版年
2024
NETL
NSTL
万方数据