为了解决船载多波束声呐的姿态稳定问题，设计一款双自由度水下云台。在保留传统水下云台定位模式的基础上，通过增加自适应模式来补偿波浪对声呐姿态的影响，并提出了阶梯速度PID自适应控制方法。根据距离目标角度的大小选择匹配的速度梯度，引入PID对水下云台实时调节，通过自身调整使其稳定在保持角度。水下模拟实验结果表明：定位模式下，水下云台2个自由度均能以18°/s的速度快速稳定到达目标角度，角度误差为0.4°；自适应模式下，搭载声呐的俯仰自由度能在较短的时间内稳定在保持角度，保持误差为1°，证明了控制方法的有效性。
In order to solve the attitude stabilization problem of shipborne multi-beam sonar, a two-degree-of-freedom underwater pan-tilt is designed. On the basis of retaining the traditional underwater pan-tilt positioning mode, an adaptive mode was added to compensate the influence of wave on sonar attitude, and a step velocity PID adaptive control method was proposed. In this method, a matching velocity gradient is selected according to the angle of distance from the target, and then PID is introduced to adjust the underwater pan-tilt in real time, so that it can maintain a specific angle relative to the underwater pan-tilt through self-adjustment. According to the results of the underwater simulation experiment, both the two degrees of freedom of the underwater pan-tilt can reach the target angle at a speed of 18°/s, and the angle error is 0.4°. In the adaptive mode, the pitch degree of freedom with sonar can be stabilized at the hold angle in a short time, and the hold error is 1°, which proves the effectiveness of the control method.
2022,44(14): 89-94 收稿日期：2021-09-10
DOI：10.3404/j.issn.1672-7649.2022.14.020
分类号：TP13
基金项目：天津市科技计划项目（18ZXRHGX00020）；天津市科技特派员项目（19JCTPJC52100）
作者简介：王晓鸣(1981-)，男，博士，副教授，主要从事机器人、嵌入式控制系统开发等方面的教学与科研工作
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