水下无人平台的模型参考自适应姿态控制研究

Research on model reference adaptive attitude control for unmanned underwater platform

水下无人平台通常用于海洋勘探和开发,以帮助研究人员了解水下情况。针对水下无人平台在恶劣海底环境下保持姿态稳定困难,无法有效开展海底矿物资源勘探及实时回传清晰、稳定水下图像的问题,设计一种基于模型参考自适应PID的姿态控制系统。通过控制器不断迭代控制参数,使平台在搭载不同水下勘探设备的情况下依然能够保持水下姿态的稳定。分别在Matlab/Simulink环境和实际工况下对平台的姿态控制进行仿真分析及测试,实验结果表明:该模型无论在大、小角度转向均以较短的调节时间(4.36 s、2.69 s)和几乎为0%的超调量优于其他模型,具有良好的控制效果。尤其对于运行环境及搭载设备会造成控制模型结构及参数发生变化的问题,模型参考自适应PID控制具有更好的鲁棒性。该研究可为今后水下平台快速、准确的调节自身姿态,保持稳定状态提供可靠的技术解决方案。

Unmanned underwater platforms are generally employed for marine exploration and development to help researchers understand underwater conditions.Aiming at the difficulties of maintaining attitude stability of underwater unmanned platform in harsh seabed environment,which can not effectively carry out seabed mineral resource exploration and send clear and stable underwater images in real time,an attitude control system based on adaptive PID model reference was designed.By continuously iterating the control parameters through the controller,the platform can still maintain the stability of the attitude when the seabed is equipped with different underwater exploration equipment.The attitude control of unmanned underwater platform is simulated and tested in Matlab/Simulink environment and actual working conditions respectively.The results show that the model turns at a shorter and small angle at a shorter adjustment time(4.36 s,2.69 s)and almost 0%over-adjustment than other models,and has good control effects.Especially for the problem that the control model structure and parameters will change due to the operating environment and the on-board equipment,the model reference adaptive PID control has better robustness.It can provide a reliable technical solution for the future underwater platform to quickly and accurately adjust its posture and maintain a stable state.