针对传统PID在ROV定深运动中控制效果不佳的问题，提出一种基于PSO优化的LADRC控制方法对ROV定深运动进行控制。对八推进器ROV进行了动力学与运动学分析，得到定深运动数学模型。在Matlab中使用基于PSO优化的LADRC控制器对ROV的定深运动进行仿真，与传统PID控制方法、基于经验法调参LADRC控制方法进行对比分析，并搭建定深测试平台，读取深度航行数据。仿真结果表明：相较于串级PID，串级LADRC超调量减少了37%，调节时间减少了6.25%；PSO优化后的串级LADRC和串级LADRC相比，超调量减少了60%。使用PSO算法优化后的LADRC控制方法超调量小，控制效率更高。
For the problem of the problem of poor control effect of traditional PID in ROV depth-keeping，this paper presents a LADRC method based on PSO optimization to control ROV fixed depth motion. to obtain the mathematical model of the constant depth motion, the dynamics and kinematics of eight-thruster ROV are analyzed. Then, the LADRC controller based on PSO optimization is designed and the depth-fixed motion of ROV is simulated in the simulink module of Matlab, which is compared with the traditional PID control method and the LADRC control method based on empirical method. The results show that compared with cascade PID, cascade LADRC overshoot is reduced by 37 % and regulation time is reduced by 6.25 %. The overshoot of cascade LADRC optimized by PSO is reduced by 60 % compared with cascade LADRC. The LADRC control method optimized by PSO has smaller overshoot and higher control efficiency.
2022,44(13): 111-116 收稿日期：2021-06-19
DOI：10.3404/j.issn.1672-7649.2022.13.025
分类号：TP183
基金项目：国家自然科学基金资助项目（51864015）
作者简介：唐军(1978-),男,硕士,副教授,主要从事水下机器人、流体机械等研究
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