载人潜水器的干扰特性分析与自适应滑模控制

Disturbance characteristics analysis and adaptive sliding mode control for manned submersible vehicles

针对在实际运行中会受到未知外部环境干扰和模型不确定性等因素影响的蛟龙号载人潜水器系统,本文设计了一种基于干扰特性指标的新型自适应滑模控制方法,实现对有益干扰的利用和有害干扰的补偿.首先,文章给出载人潜水器系统的运动学和动力学模型;然后,本文设计非线性干扰观测器估计系统所受的集总扰动,并提出一种扇形区域干扰特性指标,用于判断干扰对系统的影响;其次,文章设计一种基于干扰特性指标的自适应滑模控制方法,并且根据李雅普诺夫理论进行严格的稳定性分析;最后,通过数值仿真,验证所设计的滑模控制方法的优越性.其优越性主要体现在:不仅能够有效缓解抖振现象,并且避免控制增益高估的问题.

In this paper,a novel disturbance characterization based on the adaptive sliding mode control method is proposed for the JIAOLONG manned submersible vehicle system in the presence of unknown external disturbances and model uncertainties,which is able to make full use of the beneficial disturbances,as well as to compensate the detrimental disturbances.First of all,the kinematics and dynamics models of the manned submersible vehicle system are presented.Then,a nonlinear disturbance observer is proposed to estimate the lumped disturbances of the system,and a fan-shaped area-based disturbance characterization index is designed to indicate whether the disturbances are good or harmful to the control task of system.Additionally,a novel disturbance characterization-based adaptive sliding mode control method is developed,and the strict stability analysis is then carried out with the Lyapunov theory.Finally,the superiority of the proposed sliding mode control method is verified by numerical simulations.The advantages of the proposed controller are mainly in two aspects:the chattering phenomenon can be effectively alleviated,and the problem of overestimation of control gain can also be avoided.