摘要
针对欠驱动水下无人航行器(Unmanned Underwater Vehicle,UUV)与外界复杂水文环境交互面临的特殊航迹跟踪的问题,研究了UUV航迹跟踪控制算法。基于UUV水平面动力学模型,设计了一种新型双闭环自适应航迹跟踪滑模控制系统,该系统能有效抑制外界干扰和不确定性的影响。首先,外环控制器中产生角度指令并传递给内环系统,外环产生的误差通过内环控制消除,同时设计内环控制律,在不需要惯性矩阵模型确切信息的情况下,通过姿态控制实现对外环产生的角度指令的跟踪。通过仿真及实际测试,均表明该控制方法能够实现对UUV精确的航迹跟踪。
Aiming at the problem of the special track of the UUV interacting with the complex hydrological environment,a UUV tracking control algorithm is proposed.Based on the UUV horizontal plane dynamics model,a double closed-loop adaptive track-and-track sliding mode control system can effectively restrain the influence of external disturbances and uncertainties.First of all,the angle command is generated in the outer ring controller and transmitted to the inner ring system.The error of the outer ring is eliminated by the inner ring control.At the same time,the inner loop control law is designed.Without the exact information of the inertia matrix model,the angle generated by outer ring can be tracked by the attitude controller.Through the simulation and actual tests,it shows that the control method can achieve the accurate tracking of UUV.
作者
张艺
余红英
刘琛
ZHANG Yi;YU Hongying;LIU Chen(School of Electrical and Control Engineering,North University of China,Taiyuan 030051,China)
出处
《实验室研究与探索》
CAS
北大核心
2018年第8期75-79,共5页
Research and Exploration In Laboratory
关键词
位置控制器
姿态控制器
水下无人航行器
滑模控制
position controller
attitude controller
unmanned underwater vehicle(UUV)
sliding mode control
