基于自抗扰控制的小型ROV姿态与深度控制研究  

Attitude and depth control of small ROV based on active disturbance rejection control

作　　者：赵兴隆 商蕾[1] 乔玉蓬 ZHAO Xinglong;SHANG Lei;QIAO Yupeng

机构地区：[1]武汉理工大学,湖北武汉430063 [2]杭州海康威视数字技术股份有限公司,浙江杭州310051

出　　处：《中国修船》2022年第2期42-46,共5页China Shiprepair

摘　　要：针对小型有缆式水下航行器(ROV)运动控制中参数不易确定和在有扰动的情况下易出现抗干扰性能差等问题,文章提出了一种基于自抗扰控制(ADRC)的小型ROV姿态和深度控制方法。建立ROV的运动学和动力学模型,并进行模型的简化;基于ADRC控制方法设计小型ROV的姿态与深度控制器,并在有干扰和无干扰2种情况下分别进行仿真分析和实际验证。实验结果表明,在仿真参数摄动时,ADRC控制器仍具有良好的控制效果;在有外部扰动的情况下与PID控制器相比,ADRC控制器的抗扰性能更好。In terms of a small remotely operated vehicle(ROV),the parameters of motion control are difficult to determine,and the anti-interference performance is poor in the case of disturbance.In response,this paper proposes an attitude and depth control method based on active disturbance rejection control(ADRC).In addition,it builds and optimizes a kinematic-dynamic model of the ROV and designs an ADRC-based attitude and depth controller for the ROV.Simulation and experiments are carried out under both conditions of interference and no interference.The results show that the ADRC controller still has a favorable control effect when simulation parameters perturb.In the case of external disturbance,the ADRC controller has better anti-interference performance than that of the proportional integral derivative(PID)controller.

关 键 词：水下航行器 自抗扰控制 偏航控制 横倾控制 深度控制 

分 类 号：U672[交通运输工程—船舶及航道工程]