带有内部转子的自主水下航行器的跟踪控制  

Tracking Control of An Autonomous Underwater Vehicle With Internal Rotor

作　　者：李家旺[1] 宋保维[1] 李家宽[1] 邵成[1] 

机构地区：[1]西北工业大学航海学院,陕西西安710072

出　　处：《计算机仿真》2009年第9期124-127,共4页Computer Simulation

摘　　要：研究了水平面内自主水下航行器(AUV)的轨迹跟踪控制问题。AUV由主推进器和一个内部转子驱动,可视为欠驱动系统。建立了带有外界扰动及模型不确定性的系统数学模型。为了对侧向运动和偏航运动进行解耦,采用了一种坐标转换。基于Lyapunov直接法,针对转换后的模型设计了一种跟踪控制律以使得位置跟踪误差收敛于零点左右的一个球域内。考虑到电机控制系统中的干扰和误差,对转子电机进行了控制设计以实现系统跟踪误差的全局镇定。仿真结果表明控制律对建模误差具有一定的鲁棒性。The trajectory tracking control problem is investigated for an autonomous underwater vehicle （AUV） in the horizontal plane. Actuated by a rear thruster and an internal rotor, the AUV is regarded as an underactuated system. A mathematic model of the vehicle under environmental disturbances and model uncertainties is presented. A coordinate transformation is adopted to decouple the sway dynamics from the yaw dynamics. A tracking control law is presented for the transformed model by appliying Lyapunov＇ s direct method to force the position tracking errors to a bounded ball around the origin. A controller is designed for the motor of internal rotor to compensate the disturbances and system noises and globally stabilize the error dynamics. Simulation results illustrate that the proposed controller has a certain robustness against modeling errors.

关 键 词：自主水下航行器 内部转子 欠驱动系统 跟踪控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]