高精度深度模拟器自适应控制研究

Research on Adaptive Control of High Precision Depth Simulator

针对深度模拟器工作液体中难以完全避免气体混入的实际情况,以及由此导致的体积弹性模量随着模拟深度不同而变化所带来的控制系统存在的非线性问题,提出了一种模型参考自适应控制器。首先,根据系统特性设计了模型参考自适应率并证明其Lyapunov稳定性。接着,基于AMESim建立仿真模型,分别对常规PID控制器和提出的模型参考自适应控制器的控制效果进行仿真模拟,验证了该系统在工作压力较低时存在着显著非线性,以及提出的模型参考自适应控制器具备良好的控制效果。最后,对深度模拟器进行实验研究,表明所采用的模型参考自适应控制器的控制精度较常规PID控制器有明显提升。

According to the fact that it is difficult to completely avoid gas mixing in the oil of depth simulator,which may lead to the change of bulk modulus of elasticity in different simulation depth,and result in the non linear of the control system.In this paper,a model reference adaptive controller was proposed.Firstly,the model reference adaptive rate was designed according to the system characteristics and its Lyapunov stability was proved.Then,based on AMESim,a simulation model was established to simulate the control effects of the simulator by using the conventional PID controller and the model reference adaptive controller proposed in the paper.The results show that the system nonlinearity of the depth simulator is significant when the pressure is low.The control effects of the model reference adaptive controller proposed in the paper are better than that of the conventional PID controller.Finally,an experimental study on the depth simulator was carried out.The results show that the control accuracy of the model reference adaptive controller in the experiment is much higher than that of the conventional PID controller.