水下机器人姿态保性能鲁棒控制物理仿真研究

Experimental Research of Performance Guarantee Robust Control of Underwater Vehicle's Attitude

将计算机仿真研究与物理仿真研究相结合,设计安装了自动平衡装置作为物理仿真系统对水下机器人姿态位置控制进行实验研究。结合具体系统设计了保性能鲁棒控制器,分析了调节设计参数对系统性能的影响;结合实际参数不确定范围确定了合理的设计参数范围;通过对计算机仿真和实际调试中存在的具体问题的分析,改进了系统设计。研究表明采用保性能鲁棒控制可以保证系统在较大范围的参数变化时,保持稳定并对随机干扰有较强的抑制。

Computer simulation and physics simulation were combined to design the automatic balance settings and installed as a physics simulation system for the research of underwater vehicle＇s attitude control. On the basis of the real system, the performance guarantee robust controller was designed, the effects of parameters to the system performances was analyzed to confirm the proper parameters. The system had been improved by the analysis of the problems in computer simulation and debugging. The research indicates that the performance guarantee robust control can assure the stability of the system when the parameters of system change a lot, and restrains random disturbances.