水下机器人姿态角LQR-鲁棒方差控制实验研究  

Experimental research of ocean underwater vehicle with LQR-robust variance control

作　　者：华克强[1] 赵世伟[1] 

机构地区：[1]中国民航大学工程技术训练中心,天津300300

出　　处：《舰船科学技术》2009年第2期49-52,70,共5页Ship Science and Technology

基　　金：国家自然科学基金资助项目(69185012)

摘　　要：采用自动平衡控制系统作为物理仿真系统对水下机器人姿态角控制进行实验研究。结合具体系统设计了鲁棒方差控制器,分析了设计参数和系统参数变化对系统性能的影响。针对系统对大偏差和小偏差不同的要求,采用了LQR控制和鲁棒方差控制复合控制器;结合实际参数不确定范围确定了合理的设计参数范围;进一步结合实际调试中的具体问题确定了适当的系统参数。研究表明,LQR-鲁棒方差控制策略可以保证系统在较大范围的参数变化时保持稳定,有适当的带宽,并对随机干扰实现了合理的抑制。研究结果可供研制水下机器人控制系统参考。Auto balance control system is taken as an actual simulation system for experimental research of underwater vehicle＇s attitude angle control. According to actual system, robust variance controller is designed;the influence of system performance is analyzed as design parameters and system parameters changing. To big and small deviation, system has different requirements,so take the controller with the LQR control and robust variance control together; according to actual uncertain parameters＇ scope, reasonable design parameters＇ scope is fixed; further more, system parameters is fixed according to problem in actual debugging. Research shows that method of LQR-robust variance control could ensure system with feasible bandwidth stable, even parameters change in a greater scope, and can realize suit restraining stochastic disturbances. The result can be used as reference for the research of underwater robot control system.

关 键 词：水下机器人 复合控制 鲁棒方差控制 实验研究 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]