摘要
分析了水下滑翔机欠驱动特点,建立了水下滑翔机完整六自由度模型,给出了三维路径跟踪误差方程。利用三维空间的视线导航方法,设计了非线性自适应控制策略,给出了水下滑翔机横滚角控制律、俯仰角度控制律和深度控制律。理论研究和仿真实验表明,在不同海流大小和航向夹角情况下,提出的控制器在一定条件下能够克服常值海流干扰的影响,具有较好的鲁棒性和很好的跟踪效果。
The characteristics of under-actuation were analyzed according to the working principle of underwater glider,and a complete 6-DOF model of underwater glider was established.The error equation of 3D path tracking was given.Based on the line of sight navigation method in three-dimensional space,the nonlinear adaptive control strategy was designed,and the roll Angle control law,pitch Angle control law and depth control law of underwater glider were given.Through theoretical research and simulation experiments,it is verified that the controller proposed in this paper can overcome the influence of constant current disturbance under certain conditions,and has good robustness and good tracking effect under different ocean current size and course Angle.
作者
张文清
吕勇
马士全
ZHANG Wenqing;LYU Yong;MA Shiquan(Naval Submarine Academy,Qingdao 266199,China;National Laboratory for Marine Science and Technology,Qingdao 266237,China)
出处
《兵器装备工程学报》
CSCD
北大核心
2021年第10期165-169,共5页
Journal of Ordnance Equipment Engineering
基金
国家重点研发计划项目(2019YFC0311700)
国防科技创新特区项目(2019)
中国博士后科学基金特别资助项目(2020T130771)。
关键词
水下滑翔机
路径跟踪
抗干扰控制
视线导航法
underwater glider
path tracking
anti-interference control
sight navigation method
