带有死区补偿的欠驱动AUV深度控制

发布时间：2018-06-10 21:06

本文选题：欠驱动AUV + 深度控制　；参考：《船舶力学》2016年11期

【摘要】：由于舵桨联合操控的水下机器人舵机传动系统死区非线性的存在,严重影响了某水下机器人的深度控制效果。文章以该水下机器人为研究对象,同时考虑了其欠驱动的运动特性及外界有界干扰和模型参数摄动,设计了具有自适应补偿功能的PID控制器,利用Lyapunov稳定性理论,证明在该控制器作用下,该控制系统是全局稳定的。最后进行了仿真实验。实验结果表明该控制器具有很好的控制效果,是行之有效的。
[Abstract]:Because of the nonlinearity in the dead zone of steering gear drive system of underwater vehicle, the depth control effect of a certain underwater vehicle is seriously affected. Taking the underwater vehicle as the research object, considering the motion characteristics of the underactuated robot, the external bounded disturbance and the perturbation of the model parameters, a pid controller with adaptive compensation function is designed, and the Lyapunov stability theory is used. It is proved that the control system is globally stable under the action of the controller. Finally, the simulation experiment is carried out. The experimental results show that the controller has good control effect and is effective.
【作者单位】：哈尔滨工程大学水下智能机器人国防科技重点实验室;
【基金】：国家自然科学基金(51579053)
【分类号】：U674.941

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