水下滑翔机垂直面运动的前馈级联控制  

Feed-forward cascade control of underwater glider vertical plane motion

作　　者：王浩亮[1] 王丹 彭周华 王天霖 张春来[1] WANG Hao-liang;WANG Dan;PENG Zhou-hua;WANG Tian-lin;ZHANG Chun-lai(a. Marine Engineering Colleg;b. Marine Electrical Engineering Colleg;c. Marine Architecture and Ocean Engineering College, Dalian Maritime University, Dalian 116026, Chin)

机构地区：[1]大连海事大学轮机工程学院,辽宁大连116026 [2]大连海事大学船舶电气工程学院,辽宁大连116026 [3]大连海事大学船舶与海洋工程学院,辽宁大连116026

出　　处：《大连海事大学学报》2018年第2期46-53,共8页Journal of Dalian Maritime University

基　　金：国家自然科学基金资助项目(51579023;61673081);中央高校基本科研业务费专项资金资助项目(3132016313;3132018258);国家重点研发计划重点专项(2016YFC0301500)

摘　　要：针对水下滑翔机的结构特点,通过对不同控制策略的研究,提出前馈级联控制策略.首先,通过合理简化,建立水下滑翔机的纵平面运动模型;其次,基于水下滑翔机的航行要求和调节机构的特点,对单环控制策略、前馈反馈控制策略和前馈级联控制策略的控制原理进行分析研究;最后,利用Slocum滑翔机的基本参数,采用单环控制、前馈反馈控制和前馈级联控制三种不同控制策略对水下滑翔机进行仿真研究.对滑翔机俯仰角、滑翔速度、攻角、姿态控制滑块位置和浮力驱动系统质量等系统参数的对比分析表明,前馈级联控制策略在静态性能和动态性能方面均具有明显优势,可以使水下滑翔机快速实现对控制指令的跟踪响应,系统超调量小,状态切换平稳,适合于水下滑翔机的运动控制.According to the structural characteristics of underwater glider,a feed-forward cascade control strategy was proposed based on the study of different control strategies. Firstly,the longitudinal plane motion model of underwater glider was established after reasonable simplification. Secondly,based on the navigation requirements of the underwater glider and the characteristics of the regulating mechanism,the principle of the single loop control strategy,the feed-forward/feedback control strategy and the feed-forward cascade control strategy were analyzed. Finally,the single loop control strategy,the feed-forward/feedback control strategy and the feedforward cascade control strategy were used to simulate the glider＇s motion by using the basic parameters of the Slocum glider. Comparative analysis on the system parameters including pitching angle,gliding speed,attack angle,attitude control slider position and buoyancy driven system quality shows that the feed-forward cascade control strategy has obvious advantages in both static and dynamic performance,which can make underwater glider quickly realize the tracking response to control instructions,small system overshoot and stationary state switching,which is suitable for the motion control of underwater gliders.

关 键 词：水下滑翔机 垂直面 前馈级联控制 单环控制 前馈反馈控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]