小型4轴矢量推进式水下机器人定深控制技术

Constant Depth Control for a Novel Underwater Robot with Four Vectored Water-Jet Thrusts

针对传统水下航行器低速航行时姿态控制效率低、机动性差的缺点,设计并构建了一款4轴矢量推进式水下机器人,使其在低速航行时仍然具有高可控性与高机动性.依据该机器人的结构特点和运动特性,提出了一种基于自适应滑模控制的适合矢量推进式水下机器人纵向深度控制的高可靠性方法,并构建了鲁棒控制器,且配以平滑饱和函数,有效改善机器人控制的暂态品质和震颤现象,解决了该机器人建模时因动态系统高维、多输入、高度耦合、强非线性而产生的较大建模误差问题.仿真结果表明,机器人的深度、俯仰角能迅速稳定在期望值附近.

Due to the disadvantages of the traditional AUV such as inefficiency of attitude control and poor maneuverability at low speed, a novel vectored water-jet-based underwater robot was proposed. Based on the characteristics of the structure of the robot and its movement features, a reliable method was presented with the adaptive sliding mode control technology for longitudinal depth control and the corresponding robust controller was built. A smooth saturation function, which forces the system to maintain stable condition, was used to reduce chatter and to improve transient performance. With presented adaptive sliding mode controller, the underwater robot can be steered under the condition with modeling error due to the multiple-dimension, multiple- inputs and highly coupled nonlinearity of the dynamic model. The simulations results show that the depth and the pitching angle of the robot can be stabilized around the expected point.