本文主要研究水下直升机（autonomous underwater helicopters, AUH）的首向无模型控制问题。AUH圆碟形的外形使其具有灵活的首向机动性，但也使AUH的首向易受外部扰动和模型失配的影响而出现振荡和超调。针对AUH的首向稳定控制问题，提出一种无模型参数自适应滑模控制方法。首先，利用系统输入/输出测量数据建立动态线性化数据模型，基于离散无抖振滑模控制算法设计无模型自适应滑模控制器。其次，分析了AUH的主要动力学参数发生大范围变化时，使用无模型自适应滑模控制器获得的控制输出存在超调和振荡的原因，提出一种控制器参数自适应调节律，解决了控制输出的超调和振荡问题。在被控对象参数大范围变化的情况下，所提出方法获得了具有一致性的首向控制效果。该方法仅需要首向控制输入/输出测量数据，实现了AUH的首向无模型控制。通过仿真和湖上试验，验证了方法的可行性和有效性。
The model-free heading control method for autonomous underwater helicopters(AUH) is addressed. The flexible heading maneuverability is obtained by the disk-shape of AUH，but yaw oscillation and overshoot are more likely to occur due to external disturbance and model mismatch. To solve the heading stability control problem, an model-free parameter adaptive sliding mode heading control method for AUH is proposed. Firstly, the dynamic linearization data model is established by using the input/output measurements of the system，and the controller is designed based on chattering-free discrete-time sliding mode control algorithm. Secondly, the reason of overshoot and oscillation of the control output, when the main dynamic parameters of AUH change in a wide range, is analyzed. An adaptive controller parameter regulation law is proposed to solve the problem of overshoot and oscillation of control output. When the parameters of the controlled plant vary in a large range, the consistent heading control effect is obtained by the proposed method. Only the input/output measurement data of heading control is needed by the controller, and the model-free heading control of AUH is realized. The feasibility and effectiveness of the method are verified by simulations and lake experiments.
2022,44(10): 73-79 收稿日期：2021-07-22
DOI：10.3404/j.issn.1672-7649.2022.10.014
分类号：TP3-05
基金项目：国家重点研发计划（2017YFC0306100）；中国科学院战略性先导科技专项（XDA22040103）
作者简介：石凯(1981-)，男，硕士，副研究员，研究方向为水下机器人控制技术
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