摘要
针对工作级遥控潜水器(ROV)存在模型参数变化频繁、作业环境复杂、不确定因素众多及运动的强非线性等特性,文章提出一种S-MFAC(sigmoid-model free adaptive control)非线性串级工作级ROV位姿跟踪控制算法。其外环应用S函数的有界、平滑输出特性,将ROV位置和姿态控制指令转换为光滑的内环参考速度,满足执行器约束;内环控制器采用MFAC消除ROV系统内在扰动因素,实现各自由度速度量的稳定、准确跟踪闭环控制。文章通过搭建仿真模型,对该算法在速度跟踪和三维轨迹跟踪方面的控制有效性进行了验证。结果表明:同样在不基于ROV精确数学模型的条件下,S-MFAC控制算法比常规PID算法具有更好的动态控制效果;另外,S-MFAC控制算法由于优化了操作输入,可以减少领航员的工作强度,提高ROV作业效率。
In considering the frequent variation of model parameters, complicated operating environment, numerous uncertain factors and strong nonlinearity of motion in working-class ROV(remotely operation vehicle), this paper presented an S-MFAC(sigmoid-model free adaptive control) nonlinear cascade control algorithm. The outer loop of the algorithm uses the bounded, smoothing output characteristics of S-MFAC to convert the instruction of posture and position into smooth inner loop reference speed to satisfy the actuator constraints, and the inner loop controller uses MFAC to eliminate the disturbance factors in the ROV system. Stable and accurate tracking closed-loop control is realized for each degree of freedom. Control effectiveness of the algorithm in velocity tracking and 3 D trajectory tracking was verified by building a simulation model. The results shows that the S-MFAC control algorithm has better dynamic control effect than the PID algorithm under the same condition without ROV precise mathematical model. In addition, the control algorithm can reduce the workload of the navigator due to the optimization of the operation input.
作者
乔岳坤
朱迎谷
严允
罗凌波
胡斌炜
QIAO Yuekun;ZHU Yinggu;YAN Yun;LUO Lingbo;HU Binwei(CRRC SMD Shanghai Ltd.,Shanghai 201306,China)
出处
《控制与信息技术》
2018年第6期44-49,共6页
CONTROL AND INFORMATION TECHNOLOGY
基金
国家重点研发计划(2016YFC0304104)
关键词
工作级ROV
位姿控制
无模型控制
非线性
串级控制
working-class ROV,control of posture and position
model-free
nonlinearity
cascade control
