水下滑翔机的三维运动线性控制研究（英文）  

LQR Control of a Three Dimensional Underwater Glider

作　　者：曹军军[1] 曹俊亮[1] 胡永利 姚宝恒[1] 连琏[1] CAO Jun-jun;CAO Jun-liang;HU Yong-li;YAO Bao-heng;LIAN Lian(The State Key Laboratory of Ocean Engineering,Shanghai Jiao Tong University,Shanghai 200241,China)

机构地区：[1]上海交通大学海洋工程国家重点实验室

出　　处：《船舶力学》2019年第6期674-683,共10页Journal of Ship Mechanics

基　　金：Supported by National Natural Science Foundation of China(41527901;51279107)

摘　　要：文章对滑翔机的三维动力学模型进行简化和线性化,通过分析线性化的三维模型,设计了一种线性二次型调节器(LQR)使滑翔机在运动过程中能够抵抗由于外界引起的扰动。滑翔机动力学模型是一个多输入多输出系统,同时由于欠驱动的特点,使得其在滑翔运动中很容易受到外界环境的影响。文中设计了线性反馈控制器来改善滑翔机的控制性能。LQR控制器和比例积分微分控制器(PID)的仿真对比结果显示了LQR控制器具有较快的响应速率,能够使滑翔机在扰动下较快地恢复至稳定滑翔状态,能较好地控制滑翔机的运动。This paper analyzes a linear system by simplification and linearization of the three dimensional system of underwater glider,and constructs a feedback control law to make the glider motion robust to the disturbances caused by inaccurate measurements or some other uncertain environments.The dynamic modeling of the system which governs buoyancy propelled,fixed wings underwater glider with internal moving mass is multi-input multi-output(MIMO),which is underactuated while easily affected by the ambient environment.A linear feedback control law is established to improve the control performance of the glider.Contrast results of simulations demonstrate that the derived LQR controller has faster response than Proportional Integral Derivative(PID),which manifests its outstanding capability in controlling the underwater gliders.

关 键 词：非线性系统 线性化 仿真 水下滑翔机 

分 类 号：P754.3[天文地球—海洋科学]