[1]徐大伟,吴迪,侯恕萍,等.海浪干扰环境下UUV近水面深度控制[J].智能系统学报,2014,9(04):407-412.[doi:10.3969/j.issn.1673-4785.201311068]
 XU Dawei,WU Di,HOU Shuping,et al.Depth control method for UUV maneuvering near surface under wave disturbance[J].CAAI Transactions on Intelligent Systems,2014,9(04):407-412.[doi:10.3969/j.issn.1673-4785.201311068]
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海浪干扰环境下UUV近水面深度控制(/HTML)
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第9卷
期数:
2014年04期
页码:
407-412
栏目:
出版日期:
2014-08-25

文章信息/Info

Title:
Depth control method for UUV maneuvering near surface under wave disturbance
作者:
徐大伟1 吴迪2 侯恕萍3 赵玉飞2
1.海军驻锦州地区军事代表室, 辽宁 锦州 121000;
2. 哈尔滨工程大学 自动化学院, 黑龙江 哈尔滨 150001;
3. 哈尔滨工程大学 机电工程学院, 黑龙江 哈尔滨 150001
Author(s):
XU Dawei1 WU Di2 HOU Shuping3 ZHAO Yufei2
1. Navy Military Representative Office in Jinzhou, Jinzhou 121000, China;
2. College of Automation, Harbin Engineering University, Harbin 150001, China;
3. College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
关键词:
无人水下航行器干扰观测器变结构控制可拓控制海浪干扰深度控制方法
Keywords:
UUVdisturbance observervariable structure controlextension controlwave disturbancedepth control method
分类号:
TP18
DOI:
10.3969/j.issn.1673-4785.201311068
摘要:
由于在强耦合条件下, 积分变结构控制的极点配置问题十分复杂。为了研究了无人水下航行器(UUV)近水面深度控制问题, 在积分变结构控制器的设计之中加入了可拓控制理论, 为UUV深度控制系统设计了可拓积分变结构控制算法, 在解决极点配置问题的同时提高了控制器的鲁棒性。同时, 在UUV近水面航行时, 海浪引起的深度变化对其运动控制产生了严重的影响, 主要表现为在舵的剧烈抖动与磨损、能源的不必要消耗等。针对此问题, 采用了非线性输出干扰观测器估计海浪带来的深度方向的干扰, 并结合李亚普诺夫理论证明了其稳定性。最后, 将所设计的可拓积分变结构控制器与估计得到的海浪干扰应用在UUV仿真系统中, 结果证明了方法的有效性与工程实际意义。
Abstract:
This paper mainly studies the near surface depth control problems of the unmanned underwater vehicle (UUV). Due to the strong coupling condition of the UUV dynamics, the pole assignment of the integral variable structure control could be rather complicated. So in this paper, the authors extended the traditional integral variable structure control with the extension control algorithm and designed an extension integral variable structure controller with increased robustness when solving the pole assignment problem with the UUV depth control system. In the meantime, frequent changes in the depth caused by the ocean waves generated lots of problems with the motion control of the UUVs when operated near the surface, such as wear and tear of the motors, consumption of energy, etc. Based on the mathematical model of the ocean wave, this paper estimates the disturbance of the depth according to the nonlinear output disturbance observer with the stability proved by the Lyapunov theory. Finally, the controller and observer were used in the depth control simulation system. The results demonstrate the effectiveness and practical significance of this method.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2013-11-27。
基金项目:国家自然科学基金资助项目 (51109043)
作者简介:徐大伟,男,1969年生,高级工程师,主要研究方向为水下航行器的控制与仿真,发表学术论文20余篇;侯恕萍,女,1972年生,副教授,博士,主要研究方向为水下特种作业技术与装备、水下机器人智能控制与对接技术,发表学术论文20余篇。
通讯作者:吴迪,男,1988年生,博士研究生,主要研究方向为水下航行器的控制技术,发表学术论文5篇。E-mail:roaddywu@gmail.com
更新日期/Last Update: 1900-01-01