摘要
提出了一种基于四元数的单向量反馈自治式潜水器(AUV)位姿控制算法,使用向量表示控制量和姿态或位置的误差。此算法突破了欧拉角姿态下存在姿态死区的局限,解决了AUV任意方向多圈旋转问题。使用该算法实现了全驱动碟形AUV的位置和姿态控制。利用MATLAB的SIMSCAPE工具箱建立碟形AUV模型,并使用离散数字控制器进行仿真,验证了算法的稳定性。实验结果表明,在碟形AUV的位姿控制任务中,四元数反馈控制算法可以使碟形AUV系统在外部控制的作用下,从一个任意状态到达状态空间中的另一个任意状态。本算法将机体姿态视为单个闭环,相比基于欧拉角的控制方案,收敛域更大、参数更少,降低了实际设备的调试难度,在工程应用中更加便利。
The single vector quaternion feedback control algorithm for the autonomous underwater vehicle(AUV) was proposed, which used vectors to represent control input and attitude errors. This algorithm solved the attitude dead zone and multi-turn rotation problem in Euler angle attitude. The above algorithm could realize the attitude and position control in a fully-actuated dish-shaped AUV. In order to demonstrate the efficacy of the algorithm mentioned, the physical model of the dish-shaped AUV was built in the simulation and a digital controller was designed based on quaternion feedback. The experimental results showed that the quaternion feedback control algorithm could make the dish-shaped AUV system move from one arbitrary state to another arbitrary state in the state space. The algorithm regarded the body attitude or position as a single closed loop, thus having larger convergence domain and requiring fewer parameters to tuning than the scheme using Euler angles, which made the debugging of dish-shaped AUV control parameters easier and more convenient in engineering application.
作者
许一航
刘剑
孙长银
XU Yihang;LIU Jian;SUN Changyin(School of Automation,Southeast University,Nanjing 210096,China;School of Artificial Intelligence,Anhui University,Hefei 230031,China)
出处
《智能科学与技术学报》
2022年第4期513-521,共9页
Chinese Journal of Intelligent Science and Technology
基金
国家自然科学基金资助项目(No.61921004,No.62103099)
江苏省前沿引领技术基础研究专项(No.BK20202006)
中央高校基本科研业务费(No.2242022R42003)。
关键词
四元数反馈
全驱动系统
碟形AUV
quaternion feedback
fully-actuated system
dish-shaped AUV
