自适应LQR方法在载人潜水器动力定位中的应用研究

Application of adaptive LQR method in dynamic positioning of human occupied vehicles

根据我国正在研制开发的某深海载人潜水器的特性及其对载人潜水器动力定位控制的要求,采用最优控制方法LQR与递推辨识系统参数相结合的方法———自适应LQR方法进行控制。仿真结果表明这种方法具有良好的控制效果。

In this paper, according to the characteristics of a Human Occupied Vehicle（HOV） being developed by China and the requests for dynamic positioning, a method is presented to integrate LQR optimal control method with recursive identification method of parameters-Adaptive LQR. The results of simulations show this control method has good control effectiveness.