水下滑翔器LQR调节器设计  

Design of a Linear Quadratic Regulator for Underwater Gliders

作　　者：王延辉[1] 张宏伟[1] 陈超英[1] 

机构地区：[1]天津大学机械工程学院,天津300072

出　　处：《机械科学与技术》2009年第10期1389-1392,1400,共5页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金重点项目(50835006);国家自然科学基金青年基金(50705063);天津市应用基础及前沿技术研究计划重点项目(09JCZDJC23400);中国博士后科学基金项目(20090450762)资助

摘　　要：水下滑翔器是一种新型自治式水下航行器,可用作海洋测量传感器的搭载平台。通过对水下滑翔器动力学模型线性化,获得垂直剖面水下滑翔器系统状态空间方程,并在此基础上设计了LQR调节器。考虑到海洋环境的复杂性,重点研究了扰动条件下,滑翔器在垂直剖面内运动方向和姿态的控制问题,讨论了系统对干扰的抑制和对输入控制指令的跟踪响应情况。仿真分析与水域试验显示,使用LQR调节器的水下滑翔器系统能够提高响应速度和对环境干扰的抑制能力。Underwater gliders are a new kind of Autonomous Underwater Vehicles （AUVs） ; they can be used as a carrying platform for ocean measuring sensors. The state-space equations in the vertical plane of the underwater glider are derived using linearization of the glider＇s dynamic model. A linear quadratic regulator （LQR） of the system is designed based on them. Considering the complexity of the ocean environment, the control of moving directions and poses of the glider under the influence of disturbances in the vertical plane is mainly studied. The disturbance resistance and the command signal tracking of the whole system are also discussed. The simulations and lake trials show that the underwater glider using linear quadratic regulator has a better ability of command signal tracking and disturbance resistance.

关 键 词：水下滑翔器 动力学模型 LQR调节器 仿真 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]