基于改进主从控制结构的海洋机器人零航速减摇鳍系统

Zero-speed fin stabilizer system of marine robot based on modified master slave control structure

利用零航速减摇鳍系统实现对海洋机器人在近水面低速航行时的横摇姿态控制.基于零航速减摇鳍的非线性动态特性和海洋机器人横摇解耦模型,提出具有主从结构的横摇减摇控制规律.设计具有积分滑模面的变结构控制规律,估算系统期望横摇扶正力矩,并进一步结合非线性跟踪控制理论和反馈线性化方法,建立减摇鳍子系统模型,设计从属控制规律驱动减摇鳍产生实际横摇稳定力矩.仿真结果和理论分析表明,所设计的控制规律是稳定且有效的.

The zero-speed fin stabilizer system is used to realize the roll attitude control of marine robot which navigates near sea surface with low speed. Based on the nonlinear dynamic properties of zero speed fin stabilizer and marine robot＇s decoupling rolling model, the roll damping control law with master-slave structure is designed. The variable structure master controller with the integral sliding mode is proposed to calculate the desired righting moment, and the nonlinear tracking control theory and feedback linearization method are used to design the slave controller, which drives the zero-speed fin stabilizer to generate actual roll stabilizing moment. The simulation results and the theoretical analysis are presented to show the stability and effectiveness of the proposed control law.