主管单位:中国船舶重工集团公司
主办单位:中国舰船研究院、中国船舶信息中心
地址:北京市朝阳区科荟路55号院
邮编:100101
电话:010-83027274
传真:
E-Mail:
刊号:ISSN ISSN:1672-7649
        CN CN:11-1885/U
国内发行代号:
国际发行代号:
发行范围:国内外公开发布
定价:50元/册
定价:600元/年

您所在位置:首页->过刊浏览->2020年42卷1期



近水面低航速下潜航器深度自抗扰控制
ADRC based control of a low-speed underwater flight vehicle near surface
赵硕, 冯正平, 郑天海, 潘万钧
点击:370次 下载:0次
DOI:
作者单位:上海交通大学船舶海洋与建筑工程学院, 上海 200240
中文关键字:潜航器;自抗扰控制;深度控制;扩张状态观测器
英文关键字:underwater flight vehicle; active disturbance rejection controller; depth control; extended state observer
中文摘要: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。
英文摘要: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.
2020,42(1): 28-31 收稿日期:2018-11-16
DOI:10.3404/j.issn.1672-7649.2020.01.006
分类号:TP273
作者简介:作者简介内容缺失
参考文献:
[1] ZHANG J, LIAN L, TONG G. Robust control and simulation of near-surface submarine[J]. Ocean Engineering, 2006, 24(4):32-31
[2] LICÉAGA-CASTRO E, UGALDE-LOO C E, NAVARRO-LÓPEZ E M. Efficient multivariable submarine depth-control system design[J]. Ocean Engineering, 2008, 35(17):1747-1758
[3] GAO Fu-dong, PAN Cun-yun, HAN Yan-yan, et al. Nonlinear trajectory tracking control of a new autonomous underwater vehicle in complex sea conditions[J]. Journal of Central South University, 2012, 19(7):1859-1868
[4] FONT R, GARCÍA-PELÁEZ J. On a submarine hovering system based on blowing and venting of ballast tanks[J]. Ocean Engineering, 2013, 72(7):441-447
[5] 林龙信, 沈林成, 张代兵. 仿生波动鳍的试验研究[J]. 哈尔滨工程大学学报, 2008, 29(5):489-492
[6] JIN H, PAN L, WANG L. Adaptive variable structure control with neuron for low speed stabilizing of submarine near surface[J]. Control & Decision, 2010, 25(4):562-566+571
[7] LICEAGA-CASTRO E, VAN d M G M. Submarine H ∞, depth control under wave disturbances[J]. Control Systems Technology IEEE Transactions on, 1995, 3(3):338-346
[8] HAN J. From PID to Active Disturbance Rejection Control[J]. IEEE Transactions on Industrial Electronics, 2009, 56(3):900-906
[9] LIN X, HU D, DUAN Z. The Research on Fuzzy-PID Control of the Submarine Course[C]//International Symposium on Computational Intelligence & Design. IEEE, 2013:281-284.
[10] ASHRAFIUON H, MUSKE K R, MCNINCH L C, et al. Sliding-Mode Tracking Control of Surface Vessels[J]. IEEE Transactions on Industrial Electronics, 2008, 55(11):4004-4012
[11] XUE W, BAI W, YANG S, et al. ADRC with adaptive extended state observer and its application to air-fuel ratio control in gasoline engines[J]. IEEE Transactions on Industrial Electronics, 2015, 62(9):5847-5857
[12] CUI R, CHEN L, YANG C, et al. Extended state observer-based integral sliding mode control for an underwater robot with unknown disturbances and uncertain nonlinearities[J]. IEEE Transactions on Industrial Electronics, 2017, 64(8):6785-6795
[13] DUAN W, WANG L, CHEN J. Calculation of vertical second-order drift loads on a submarine floating near the free water surface based on Taylor expansion boundary element method[J]. Journal of Harbin Engineering University, 2017, 38(1):8-12
[14] T I. FROSSEN, Guidance and control of ocean vehicles. 1994.
[15] L. ZHANG, Y B. LI. Fluid Mechanics, 220-221, 2006
[16] L. WU, J. HAN TD Filter and its applications[J]. Computing Technology and Automation, 2003, 22(s1):61-63
读者评论

      读者ID: 密码:   
我要评论:
国内统一连续出版物号:CN:11-1885/U |国内发行代码: |国际标准出版物号:ISSN:1672-7649 |国际发行代码:
主管单位:中国船舶重工集团公司  主办单位:中国舰船研究院、中国船舶信息中心
版权所有©2020舰船科学技术》编辑部 京ICP备11013578号
本系统由北京菲斯特诺科技有限公司设计开发 技术支持
您是本站第2128527名访问者