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自主水下机器人(autonomous underwater vehicle,AUV)系统垂直面运动具有强耦合性、非线性等特点导致AUV系统垂直面难以精确控制,且其纵倾角需控制在某一阈值内,以保证系统安全。根据以上控制要求与AUV垂直面运动模型特点,提出将其解耦为深度控制子模型与纵倾角控制子模型,构建AUV系统垂直面运动控制模型集,根据模型集所含两子模型特点,提出了状态变量增减的多模型切换的概念。基于切换系统稳定判据——共同Lyapunov函数法,提出了变加权多模型切换策略,实现了切换过程的稳定性,避免了切换过程的抖动问题。多次湖泊试验证明,加权多模型切换策略避免了由于期望深度变化而造成的执行机构饱和、深度和纵倾角超调量过大等问题,且改善了AUV系统深度运动的静动态控制品质。
Autonomous Underwater Vehicle (autonomous underwater vehicle, AUV) system with vertical coupling has strong coupling, nonlinear characteristics of the AUV system is difficult to accurately control the vertical plane, and its pitch angle to be controlled within a certain threshold to ensure system safety. According to the above control requirements and the characteristics of AUV vertical motion model, the paper proposes to decouple it into depth control sub-model and pitch angle control sub-model and construct vertical motion control model set of AUV system. According to the characteristics of two sub-models contained in the model set The concept of multi-model changeover of state variables. Based on the criterion of switching system stability - common Lyapunov function method, a multi-model switching strategy with variable weight is proposed, which realizes the stability of the handover process and avoids the jitter of the handover process. Several lakes tests prove that the weighted multi-model switching strategy avoids the problems of saturation, depth overshoot and trim overshoot caused by expected depth changes, and improves the static and dynamic control quality of deep motion of AUV system.