基于遗传算法的无人水下航行器深度自抗扰控制  

Unmanned Underwater Vehicle Depth ADRC Based on Genetic Algorithm Near Surface

作　　者：胡坤[1] 张孝芳[1] 刘常波[1] 

机构地区：[1]海军潜艇学院,山东青岛266042

出　　处：《兵工学报》2013年第2期217-222,共6页Acta Armamentarii

摘　　要：根据无人水下航行器(UUV)操纵控制过程的特点,设计了一种基于遗传算法的UUV深度自抗扰控制器(ADRC)。针对ADRC控制器控制参数较多的问题,将其参数设计转化为一种辨识问题。借助遗传算法,对UUV深度控制系统中的ADRC控制参数进行了辨识,并对其在无外界干扰和近水面航行受波浪力干扰两种情况下的深度控制进行了仿真。数值仿真结果表明,ADRC控制可以获得较好的深度保持性能,并且具有较强的抗干扰能力。与PID控制相比,ADRC控制的操舵幅度和操舵频率有了明显降低,其控制品质有了明显提高。A kind of auto disturbance rejection controller（ADRC） based on genetic algorithm for keeping UUV depth was designed according to the characteristics of UUV maneuvering. Because of more parame- ters of ADRC, its parameter design was transformed to parameter optimization. The controller parameter of ADRC in a UUV depth control system was optimized by using the genetic algorithm. The depth control of UUV was simulated without disturbing and near the surface. The simulation results show that the AD- RC controller has better depth keeping and anti-jamming performances. Compared with the conventional PID controller, the amplitude and the frequency of steering controlled by ADRC controller are reduced much more obviously. The control quality of ADRC is significantly improved.

关 键 词：自动控制技术 无人水下航行器 深度 自抗扰控制 遗传算法 

分 类 号：TJ63[兵器科学与技术—武器系统与运用工程]