基于滑模理论的水下机器人定深控制算法研究

Research on Depth Control Algorithm of Underwater Vehicle Based on Theory of Sliding Mode

水下机器人操控性能指标中对定深控制性能有较高要求,而水下机器人的运动具有强的非线性和耦合性,使得不同航速下的定深控制成为难点;建立了水下航行器的运动学模型,基于滑模理论设计了深度控制器和纵倾控制器,在MATLAB SIMULINK环境下搭建了深度控制仿真系统,数值仿真结果表明:滑模变结构控制器对于不同航行条件具有较强的适应性,同时深度的控制效果明显优于PID控制器。

Underwater vehicle control performance has the higher requirements for the depth control,but the movements of the underwater vehicle has strong nonlinear and coupling,which makes the depth control of different speed difficulty.The kinematics model of underwater vehicle is set up and the depth controller and trim controller are designed.The depth control simulation system is set in MATLAB SIMULINK.The numerical simulation results show that the sliding mode controller for different sailing conditions has strong adaptability,and the depth control effect is better than PID controller.