基于L1自适应理论的AUV深度控制器设计  

Design of AUV depth controller based on L1 adaptive theory

作　　者：霍江航 姜向远[1] 栾义忠[1] 马晓静[1] HUO Jianghang;JIANG Xiangyuan;LUAN Yizhong;MA Xiaojing(Institute of Marine Science and Technology,Shandong University,Qingdao 266237,China)

机构地区：[1]山东大学海洋研究院,山东青岛266237

出　　处：《中国舰船研究》2021年第5期150-157,共8页Chinese Journal of Ship Research

基　　金：国家自然科学基金委-英国皇家学会联合资助项目(61711530133);国家自然科学基金资助项目(61503413);中央高校基本科研业务费山东大学人才专项资助项目(2019GN052);山东大学青年创新群体专项资助项目(2020QNQT016)。

摘　　要：[目的]为抑制自主式水下航行器(autonomous underwater vehicle,AUV)运动过程中水动力参数变化和复杂外界环境干扰的影响,针对AUV深度控制通道设计一种自适应控制器。[方法]首先建立AUV系统动力学模型,然后以REMUS AUV系统的纵向控制模型为被控对象设计L1自适应控制器,最后在考虑不同干扰条件下使用Matlab/Simulink对L1自适应控制器进行仿真试验,并与相同环境下PID控制器的效果进行对比。[结果]在受到强外界干扰的条件下,对比PID控制器,L1自适应控制器的控制效果更稳定。且当AUV运动模型中水动力参数发生改变时,L1自适应控制器可以保持稳定。[结论]仿真结果表明,基于L1自适应理论设计的控制器在拥有良好动态响应的同时能够保证抗干扰能力与鲁棒性。[Objectives]An adaptive controller is designed for the longitudinal control channel of autonom-ous underwater vehicles(AUV)in order to suppress the influence of hydrodynamic parameters and complex external environment disturbance during AUV motion.[Methods]First,a dynamic model of the AUV sys-tem is established and the L1 adaptive controller is then designed on the basis of the longitudinal control mod-el of the REMUS AUV system.Finally,Matlab/Simulink is used to simulate the L1 adaptive controller under different disturbance conditions,and the effects are compared with a PID controller in the same environment.[Results]Under the condition of strong external interference,the control effects of the L1 adaptive control-ler are more stable than those of the PID controller.When the hydrodynamic parameters of the AUV motion model change,the L1 adaptive controller can still maintain stability.[Conclusion]The simulation results show that the controller designed on the basis of L1 adaptive theory has good dynamic response and can guar-antee anti-interference ability and robustness.

关 键 词：自主式水下航行器 L1自适应控制 输出反馈 深度控制 

分 类 号：U664.82[交通运输工程—船舶及航道工程]