海浪干扰环境下UUV近水面深度控制

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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:

UUV; disturbance observer; variable structure control; extension control; wave disturbance; depth 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.