基于非线性动态逆的水下运载器控制方法研究  

Underwater Vehicle Control Method Based on Nonlinear Dynamic Inversion

作　　者：崔乃刚[1] 白瑜亮[1] 常亚武[1] 王小刚[1] 许江涛[2] 

机构地区：[1]哈尔滨工业大学航天学院,黑龙江哈尔滨150001 [2]哈尔滨工程大学航天学院,黑龙江哈尔滨150001

出　　处：《兵工学报》2013年第4期443-450,共8页Acta Armamentarii

摘　　要：针对水下运载器具有强非线性、强耦合、多输入多输出、水动力作用复杂以及姿态变化剧烈等特点,设计了一种非线性动态逆控制系统,解决了传统控制器设计方法在线性化过程中因忽略非线性因素带来局限性的问题。通过慢回路姿态控制器和快回路姿态控制器的设计解决了水下运载器非线性、强耦合以及多输入多输出的问题,并且运用Lyapunov稳定性分析证明了控制器的稳定性。控制方法跟踪单位阶跃信号时稳态时间为1 s,超调量为4%,较PID控制的动态特性有较大提升。非线性控制系统仿真结果表明该控制器对于±30%水动力参数不确定性具有一定的鲁棒性。To be aimed at the characteristics of the underwater vehicle which has a strong nonlinearity, strong coupling, multiple input and output, complex hydrodynamic action and attitude changes severely, a nonlinear dynamic inversion control system is designed in this paper to solve the limitations caused by ignoring the nonlinear factors in the linear process of the design method of the traditional controller. Through the design of the slow loop attitude controller and the fast loop attitude controller, the problems that the underwater vehicle has nonlinear, strong coupling, multiple input and output are solved, the stability of controller have been proven by Lyapunov stability analysis. The steady-state time is 1 s and the overshoot is 4% by tracking unit step signal in this control method, it has a larger increase than the dynamic characteristics by PID control. The results of nonlinear control system simulation show that the controller for the uncertainty of ± 30% hydrodynamic parameters has certain robustness.

关 键 词：控制理论 水下运载器 非线性动态逆控制 多输入多输出 快、慢回路控制器 

分 类 号：TJ765.2[兵器科学与技术—武器系统与运用工程]