摘要
为了研究水下无人潜航器(AUV)在垂直面的运动控制情况,笔者建立了其垂直面的运动模型,探讨了其深度控制策略,设计了深度控制子系统的反步控制器,通过定义虚拟误差及设计子系统控制律,运用李雅普诺夫稳定性理论解出系统的输入,使系统镇定;同时设计了PID控制器,调节控制参数,减小AUV的跟踪误差,使系统稳定。仿真验证结果表明:采用反步控制可使AUV实现无超调跟踪,改善了系统的输出,增强了安全性。
In this paper, in order to research motion control of unmanned underwater vehicle(AUV) in the vertical plane, the authors built its motion model of vertical plane and discussed strategies of depth control. The authors designed backstepping controller of subsystem depth control. Through defining fictitious error and designing control law of subsystem, The authors made system stable by using Lyapunov stability theory solved system input; meanwhile, the authors designed PID controller,adjusted controls parameters and reduced errors, which also made the system stable. Simulation verification results shows that,backstepping control can make AUV realize no-overshooting tracking, which improved system input and enhanced security.
作者
林荣鹏
贾鹤鸣
吴慧
朱传旭
张森
杨泽文
LIN Rong-peng;JIA He-ming;WU Hui;ZHU Chuan-xu;ZHANG Sen;YANG Ze-wen(School of Mechanical and Electrical Engineering,Northeast Forestry University,Heilongjiang Harbin 150040 China;Dalian Shipbuilding Heavy Industry Oceanographic Engineering Co.,Ltd,Liaoning Dalian 116033 China;School of Automation,Harbin Engineering University,Heilongjiang Harbin 150001 China)
出处
《科技创新与生产力》
2018年第5期48-51,共4页
Sci-tech Innovation and Productivity
基金
国家自然科学基金项目(51609048)
黑龙江省研究生教育创新工程资助项目(JGXM_HLJ_2016014)
关键词
自动控制
水下无人潜航器
深度控制
反步控制
PID控制
automatic control
unmanned underwater vehicle
depth control
backstepping control
PID control