水下试验平台高精度定位系统研究  

Research on High-precision Positioning System of an Underwater Platform

作　　者：曾志林[1] 徐国华[1] 徐兵 赵春城[1] 

机构地区：[1]华中科技大学,武汉430074 [2]武汉船用机械有限责任公司,武汉430084

出　　处：《中国机械工程》2014年第8期1021-1027,共7页China Mechanical Engineering

基　　金：国防条保重大专项(026114024)

摘　　要：针对水下试验平台快速下潜及精确调平的需求,设计了一种具有粗调和微调工作模式的水下高精度液压位置伺服系统。分析了液压系统的基本组成及原理,建立了其位置控制模型。采用自适应反步控制设计方法克服了液压系统的参数不确定性和非线性。选用最低点不动的追逐式控制策略,避免了液压系统在平台下潜和调平过程中出现的超越负载工况。仿真和试验结果表明,所设计的控制器具有良好的鲁棒性,液压系统能够实现高精度位置伺服控制。A high precision underwater hydraulic position servo system with coarse and fine tune work mode was designed for quick diving and high precision leveling of an underwater experimental platform. The basic composition and principles of the hydraulic system were analyzed, and the positio- ning model was established. An adaptive backstepping control method was used to overcome the para- metric uncertainty and nonlinear characteristics of the hydraulic system. In order to avoid the over- running load conditions of the hydraulic system during the diving and leveling processes,the ＂lowest point fixed＂ scheme called ＂chase＂ was chosen. The simulation and experimental results indicate the robustness of designed controller, and the hydraulic system can realize high precision position servo control.

关 键 词：液压位置伺服系统 超越负载 自适应反步控制 最低点不动 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]