模型补偿的水下桥墩检测机器人抗扰控制研究

Research on disturbance rejection control of underwater pier detection ROV with model compensation

水下桥墩检测机器人定点悬停检测作业时,姿态受外界强流扰动作用明显,对控制器的控制性能提出挑战。为增强机器人检测作业的稳定性和抗流性能,提出水动力模型补偿的自抗扰控制方法。首先,采用水动力仿真技术获取机器人迎流阻力与迎流角之间的机理关系;然后将其作为已知扰动补偿至自抗扰控制器中,利用观测器对内外扰动估计和补偿;最终实现了对强流作业环境中机器人的稳定控制功能。Matlab的Simulink仿真环境中的仿真结果表明:水动力模型补偿的自抗扰控制器相比传统PID和常规自抗扰控制器,由于利用已知信息对观测器补偿使状态观测器的估计负担变小,控制器的控制精度更高、响应速度更快、超调量更小且抗扰动性能更强,更适合应用在外部扰动较强但扰动可观测的复杂环境中。

When the underwater pier detection ROV(remotely operated vehicle)is hovering at fixed-points for inspection,its posture will be obviously affected by strong flow disturbance,which poses a challenge to the control performance of the controller.Therefore,an active disturbance rejection control(ADRC)method based on hydrodynamic model compensation is proposed to enhance the stability and disturbance rejection performance of the ROV in the detection operation.The hydrodynamic simulation technology is used to obtain the mechanism relationship between the ROV′s onward resistance and the onward angle.The mechanism relationship,as a known disturbance,is compensated in the ADRC.The observer is used to estimate and compensate the internal and external disturbances.The stable control function of the ROV in the strong current working environment is finally realized.The simulation result on Matlab in Simulink simulation shows that,in comparison with the traditional PID and conventional ADRCs,the ADRC based on hydrodynamic model compensation can reduce the estimation burden of the state observer by using the known information to compensate the observer.Its control accuracy is higher,its response speed is faster,its overshoot is smaller and its anti-disturbance performance is stronger.Therefore,it is more suitable for complex environment with strong external disturbance but observable disturbance.