模糊滑模变结构控制在AUV纵倾控制中的应用  

Simulation of Fuzzy Sliding-Mode Control for AUV Pitch Control

作　　者：施小成[1] 周佳加[1] 边信黔[1] 陈涛[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《计算机仿真》2008年第10期168-171,189,共5页Computer Simulation

摘　　要：无人水下机器人(AUV)在潜浮运动过程中,纵倾角的控制对其在垂直面的运动状态起着关键的作用。尽管目前研究的控制方法对纵倾角有较好的控制效果,但是由于AUV不确定的非线性特性和模型参数,其控制性能并不理想。根据AUV垂直面的非线性模型,在特定的工作点对非线性模型进行了线性化,得到AUV垂直面纵倾运动的数学模型。设计了基于模糊控制理论的模糊滑模变结构控制器调整滑模控制的控制增益,并在海流干扰下用该控制器成功地对AUV进行了纵倾控制。仿真结果验证了该控制方法对运动模型不确定的AUV具有很好的控制性能,在外界干扰下,既保证了控制系统的快速性和鲁棒性,又能够有效地削弱抖振。In the process of diving, the pitch control is the key point to an AUV＇s motion control in vertical plane. So far, different control strategies are adopted, and it is difficult to control due to non -linearities of the vehicle dynamics and model uncertainties. Based on the nonlinear model of AUV in vertical plane, the paper established a mathematical model of AUV＇s pitch motion in vertical plane by linearizing the model at a specified operating point. A fuzzy sliding - mode controller was designed to adjust the control gain in a switch control mode. The controller was applied to control the AUV＇s pitch motion with the disturbance of ocean current. The computer simulation demonstrated that this proposed controller was effective to the AUV＇s uncertain model. The system showed a speedness and robustness under some external disturbances, and was effective to eliminate system chatting.

关 键 词：自治水下机器人 模糊控制 滑模变结构控制器 纵倾控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]