摘要
在某些极端工况下,PID横滚姿态控制器性能变差,难以满足使用要求。对此,提出采用经自适应差分算法优化以及引进新型非线性函数的自抗扰控制技术(ADRC)作为其控制方法。给出了ADRC横滚控制器的具体形式,在典型干扰下进行了仿真研究。对比PID控制器,改进后的ADRC在模型参数大摄动、外界强干扰等情况下,具有更好的环境适应能力。
Under extreme conditions, the performance of the PID roll attitude controller cannot meet the requirements. This paper adopts ADRC which is optimized by AED and imports the late-model nonlinear function as the underwater vehicle roll controller. The particular form of roll ADRC controller is given, and the simulation research is carried out under the typical interference. Emulation shows comparing PID, the improved ADRC has better environmental adaptability in situation of big model parameter perturbation and strong outer disturbance.
出处
《船舶工程》
北大核心
2014年第S1期131-134,共4页
Ship Engineering
