基于干扰观测器的X舵AUV零纵倾变深控制

Zero-pitch depth control of X-rudder AUV based on disturbance observer

针对X舵AUV的零纵倾变深控制问题,提出一种基于非线性干扰观测器的滑模控制方法。该方法首先在AUV垂直面操纵模型的基础上,分别对深度与纵倾通道设计非线性干扰观测器,观测AUV变深时深度与纵倾双通道的耦合干扰以及未建模动态,并对其进行前馈补偿;其次,设计深度与纵倾双通道耦合控制器,通过同时对深度与纵倾进行控制减小变深过程的纵倾变化,实现AUV的零纵倾变深控制;最后,设计X舵的舵角分配算法,实现十字舵向X舵的舵角指令转化。仿真结果表明,本文提出的零纵倾变深控制算法能够有效地控制AUV完成高精度零纵倾变深航行。

To solve the zero-pitch depth control of X-rudder AUV, a sliding mode control method based on nonlinear disturbance observer was proposed. Firstly, based on the vertical plane model of AUV, nonlinear disturbance observer was designed for depth and pitch channels respectively, and the coupling disturbance and unmodeled dynamics was observed, and feedforward compensation was carried out for them. Secondly, a dual-channel coupling controller of depth and pitch was designed to control the depth and pitch at the same time, to realize the zero-pitch depth control of AUV. Finally, the X-rudder angle allocation algorithm was designed to realize the instruction transformation from cross rudder to X-rudder. Simulation results show that the proposed zero-pitch depth control algorithm can make the AUV to complete the high precision zeropitch depth control effectively.