基于动态反馈线性化的海洋机器人近水面横摇减摇控制  

Roll Damping Control of Marine Robot Near-surface Based on Dynamic Feedback Linearization

作　　者：金鸿章[1] 高妍南[1,2] 周生彬[3] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001 [2]黑龙江科技学院电气与信息工程学院,哈尔滨150025 [3]哈尔滨师范大学数学科学学院,哈尔滨150001

出　　处：《船舶工程》2012年第4期59-62,共4页Ship Engineering

基　　金：国家自然科学基金项目(50879012)

摘　　要：海洋机器人在近水面低速航行时,在海浪干扰下将产生横摇运动,严重影响机器人安全性能,因此利用零航速减摇鳍系统对横摇运动加以有效控制。针对机器人非线性运动模型及零航速减摇鳍升力模型的特点,利用动态反馈线性化方法设计横摇减摇控制规律。该方法通过将原系统扩展为含有伪状态变量的新系统,实现系统线性化,解决由减摇鳍升力模型引起的系统非线性形式控制输入的问题。理论证明及仿真结果表明该横摇控制规律是稳定有效的。As marine robot navigating with low speed near surface, it has rolling motion caused by the disturbance of wave, which seriously influence its security and performance. Therefore, the zero-speed fin stabilizer system is applied to control the rolling motion. Based on the marine robot＇s dynamic＂ properties and the features of the lift model of the zero speed fin stabilizer, a roll damping law is developed by using the approach of dynamic feedback linearization. The original system is extended to a new system with a pseudostate variable and the system linearization is realized The problem of the system＇s nonlinear input caused by the lift model of fin stabilizer is resolved The theoretical proof and the simulation result show that the controller is stable and effective.

关 键 词：海洋机器人 零航速减摇鳍 动态反馈线性化 横摇减摇 

分 类 号：U664.72[交通运输工程—船舶及航道工程]