考虑剩余静载的高速AUV新型滑模控制器设计

Design of novel sliding-mode controller for high-velocity AUV with consideration of residual dead load

针对高速AUV运动控制问题展开研究。一般控制方法可有效解决AUV中低航速运动控制问题,但由于在控制模型建立过程中没有考虑剩余静载以及黏性水动力随航速变化的影响,导致高速航行时存在难以控制甚至控制不收敛的问题,本文充分考虑剩余静载以及黏性水动力随航速变化对AUV运动控制的影响,提出了一种新型滑模控制器,基于李雅谱诺夫函数完成了控制器的稳定性分析。开展了外场试验,试验结果验证了新型滑模控制器相对S面控制器的优势,可有效解决AUV高速航行的运动控制问题,具有良好的控制品质。

This work focuses on motion control of high-velocity autonomous underwater vehicle(AUV).Conventional methods are effective solutions to motion control of low-and-medium-velocity AUV.Usually not taken into consideration in the control model,the residual dead load and damping force which vary with the AUV’s velocity tend to result in difficulties in motion control or even failure in convergence in the case of high-velocity movement.With full consideration given to the influence of residual dead load and changing damping force upon AUV motion control,a novel sliding-mode controller(SMC)is proposed in this work.The stability analysis of the proposed controller is carried out on the basis of Lyapunov function.The sea trials results proved the superiority of the sliding-mode controller over sigmoid-function-based controller(SFC).The novel controller demonstrated its effectiveness by achieving admirable control results in the case of high-velocity movement.