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基于AUV垂直面运动控制的状态增减多模型切换
Multi-model switching control laws for the vertical plane control of an autonomous underwater vehicle

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周焕银 1 *   李一平 2   刘开周 2   封锡盛 2  
文摘 自主水下机器人(autonomous underwater vehicle, AUV)系统垂直面运动具有强耦合性、非线性等特点导致AUV系统垂直面难以精确控制,且其纵倾角需控制在某一阈值内,以保证系统安全。根据以上控制要求与AUV垂直面运动模型特点,提出将其解耦为深度控制子模型与纵倾角控制子模型,构建AUV系统垂直面运动控制模型集, 根据模型集所含两子模型特点,提出了状态变量增减的多模型切换的概念。基于切换系统稳定判据--共同Lyapunov函数法,提出了变加权多模型切换策略,实现了切换过程的稳定性,避免了切换过程的抖动问题。多次湖泊试验证明,加权多模型切换策略避免了由于期望深度变化而造成的执行机构饱和、深度和纵倾角超调量过大等问题,且改善了AUV系统深度运动的静动态控制品质。
其他语种文摘 System vertical plane motion states have strong coupling and nonlinear characteristics, thereby making precise vertical plane control of an autonomous underwater vehicle (AUV) system difficult. Moreover, the pitch angle, which is one of the state variables of vertical plane control, should not exceed a threshold; otherwise, the AUV system might encounter damage issues, such as deep/over control and even more serious situations. In accordance with the motion characteristics of an AUV system with different control requirements on a vertical plane, the vertical plane motion model was decoupled into two mathematical sub-models (depth control model and pitch angle control model) to build the vertical plane dynamic model set of an AUV system. A corresponding control strategy was adopted according to the sub-model characteristics of the model set. Given that the system state variables and the number of dimensions will change before and after switching of sub-models, the concept of multi-model switching is based on an increase and decrease of state variables. To avoid chattering due to switching between the two sub-models, the variable weighting multi-model switching strategy was proposed on the basis of common Lyapunov function, which is the stability theory for switched systems, thereby ensuring stability during the switching process. Lake trials for the vertical plane of a type of AUV prove that the weighted multi-model switching strategy avoids saturating the executor as a result of a change in expected depth and overshooting of depth and pitch angle, among others. The weighted multi-model switching strategy improves the static and dynamic control quality of the deep movement of AUV systems.
来源 哈尔滨工程大学学报 ,2017,38(8):1309-1315 【核心库】
DOI 10.3969/j.issn.1006-7043.201607021
关键词 自主水下机器人 ; 加权多模型切换控制 ; 共同Lyapunov函数 ; 垂直面控制模型 ; 纵倾角控制模型 ; 切换系统
地址

1. 东华理工大学机械与电子工程学院, 机器人学国家重点实验室, 江西, 南昌, 330013  

2. 中国科学院沈阳自动化研究所, 机器人学国家重点实验室, 辽宁, 沈阳, 110016

语种 中文
文献类型 研究性论文
ISSN 1006-7043
学科 自动化技术、计算机技术
基金 国家自然科学基金项目 ;  机器人学国家重点实验室开放基金项目
文献收藏号 CSCD:6051979

参考文献 共 16 共1页

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引证文献 1

1 高国章 基于预测控制的水下自航器抗海浪变深控制分析 船舶工程,2020,42(6):91-97
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