基于线性自抗扰控制的UUV航向控制器设计

UUV Heading Attitude Controller Design Based on Linear ADRC Technology

由于UUV航向运动受执行机构非线性约束的影响,还受到浪、流的干扰,给航向稳定性控制带来较大困难。为了改善UUV航向控制品质,将线性自抗扰控制技术应用到航向控制中。首先,利用线性扩张状态观测器估计出系统的"总合干扰",并进行动态反馈补偿,将系统简化为积分串联标准型;然后,在积分串联标准型基础上,利用预期动力学方程设计了控制器;最后,通过引入饱和限幅环节和死区环节对控制器进行修正。针对线性扩张状态观测器在初始阶段存在"peaking"现象而造成执行机构大幅动作的问题,采取在初始阶段不引入"总和干扰"估计值的方法来解决。对比PID,线性自抗扰控制器在模型参数摄动、常值干扰、一阶高频波浪力干扰、低频正弦干扰下,有更好的动静态特性和鲁棒性。

Because of nonlinear constraints of actuator, as well as the effects of wave and flow disturbances, it is difficult to design a high performance heading attitude controller for unmanned underwater vehicle （UUV）. To im- prove the heading control quality of UUV, linear active rejection disturbance control （ADRC） technology is applied to the heading control of UUV. First, linear extended state observer （LESO） is used to estimate the system of ＂ com- bined interference＂, a dynamic feedback compensation is carried on, and the system for the integral series standard is simplified. Then, based on integral series standard, the controller is designed with expected dynamic equations. Finally, the controller is modified by introducing a saturation limiter and dead zone. Aiming at to solve the actuator sharp movement problem caused by ＂peaking＂ phenomenon of LESO in the initial stage, the estimation of ＂combined interference＂ is not input to the controller in the initial stage. Comparing with the PID, linear ADRC has better dy- namic and static characteristics and robustness in situation of big model parameter perturbation and constant interfer- ence and first -order high frequency wave forces interference and low frequency sinusoidal interference.