基于改进积分型变结构控制器的近水面机器人减摇鳍系统

Fin stabilizer system of underwater vehicle near surface based on modified integral variable structure controller

海洋机器人在近水面低速航行时,由于海浪的作用将产生横摇运动.依据减摇鳍减摇原理和变结构控制理论,针对海浪波浪力作用的特点,在水下机器人横摇解耦模型的基础上,提出一种带有自适应机制的改进积分滑模控制器的设计.仿真结果表明,改进后的积分型滑模控制器在消除稳态误差的基础上,进一步提高了减摇效率.

When underwater vehicle navigates with low speed near surface,the vehicle has roll motion for the disturbance from wave.According to the principle of zero speed fin stabilizer and variable structure control,modified integral variable structure controller is applied based on coupling roll motion model of autonomous underwater vehicle with the characteristic of wave.The simulation results from simulation experiments show that the modified integral variable structure controller can eliminate the steady-state error and has considerable improvement in performance.