摘要
深度控制是潜航器运动控制重要组成部分。在近水面航行时,潜航器受波浪力的扰动,二阶波浪力将使潜航器难以保持深度。同时,低航速状态下,水平舵受航速影响舵效大幅降低,本文基于自抗扰控制技术(ADRC)设计了潜航器深度控制器,通过扩张状态观测器(ESO)观测扰动并及时进行补偿。仿真与水池实验表明,相较于传统PID方法,该控制器使得潜航器具有更好的深度控制效果。
The performance of depth control for an underwater flight vehicle(UFV) is important. Due to the considerable wave-suction force, depth control of an underwater flight vehicle moving near surface and disturbed by wave is extremely hard. Meanwhile, the lift force generated by the bow and stern planes will decrease significantly due to low efficiency under low speeds. A depth controller of UFV based on active disturbance rejection controller(ADRC) is designed in this paper. The extended state observer observes and compensates the disturbance of wave on line. Both the results of simulations and tank tests of depth control of an underwater flight vehicle verify the advantages of the active disturbance rejection controller over conventional PID controller.
作者
赵硕
冯正平
郑天海
潘万钧
ZHAO Shuo;FENG Zheng-ping;ZHENG Tian-hai;PAN Wan-jun(School of Marine and Architectural Engineering,Shanghai Jiaotong University,Shanghai 200240,China)
出处
《舰船科学技术》
北大核心
2020年第1期28-31,共4页
Ship Science and Technology
关键词
潜航器
自抗扰控制
深度控制
扩张状态观测器
underwater flight vehicle
active disturbance rejection controller
depth control
extended state observer
