AUV近水面运动的积分变结构控制及仿真

Integral Variable Structure Control and Simulation for Near-surface Movement of AUV

智能水下机器人(AUV)在近水面的运动中,由于波浪干扰力的作用,运动状态会发生明显变化,其近水面的定深控制是比较困难的。本文设计了一个积分变结构控制器,对智能水下机器人进行了近水面运动仿真,有效的防止了水下机器人近水面波浪干扰作用下的埋首上浮现象。首先建立了水下机器人的水动力模型,进行了波浪干扰力的计算,在此基础上给出了水下机器人变结构控制器的设计过程,针对非积分变结构控制器中出现的稳态误差加入积分项,通过仿真对比验证了积分项的加入很好的抑制住了稳态误差且响应速度快、有较好的抗波浪干扰能力。

The motion of Automous Underwater Vehicle （AUV） changes obviously when it sails near surface under the influence of ocean waves, so it is difficult to sustain the depth, An integral variable structure control was studied and applied to simulate the near-surface movement of AUV .The controller prevented AUV from floating up to the surface with wave disturbances effectively. Firstly hydrodynamic model of AUV was established and the calculation of the wave forces was introduced, then sliding mode control was proposed based on the model. In order to reduce the steady-state error in the None-Integral VSC, an integrator was added to the controller. Simulation results show that it restrains the steady-state error greatly and has quick response and anti-jamming ability.