AUV平面直线航迹跟踪控制算法  

Straight-line path tracking control algorithm of AUV planar motion

作　　者：叶梦佳 王宇轩[2] 王赟[2] 赖周年[3] 曹琳琳[2] 吴大转 YE Meng-jia;WANG Yu-xuan;WANG Yun;LAI Zhou-nian;CAO Lin-lin;WU Da-zhuan(State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou 310027,China;College of Energy Engineering,Zhejiang University,Hangzhou 310027,China;Institute of Huzhou,Zhejiang University,Huzhou 313000,China)

机构地区：[1]流体动力与机电系统国家重点实验室,浙江杭州310027 [2]浙江大学能源工程学院,浙江杭州310027 [3]浙江大学湖州研究院,浙江湖州313000

出　　处：《浙江大学学报（工学版）》2022年第11期2127-2134,共8页Journal of Zhejiang University：Engineering Science

基　　金：流体动力与机电系统国家重点实验室主任基金资助项目.

摘　　要：针对自主水下航行器(AUV)在平面直线航迹跟踪过程中的航迹超调问题,设计基于航向航速双闭环运动控制的航迹跟踪控制算法.跟踪算法以视线导引法(LOS)为基础,设计时变前视距离提高AUV的机动性,并以一阶惯性滤波抑制因航向切换产生期望航向角的阶跃变化.控制算法采用抗积分饱和PID控制及参数自适应,以增加算法的鲁棒性,并将航向航速控制设计成双闭环,使得AUV航行时期望航迹段终点的距离偏差实时调整期望航速.结果表明,此航迹跟踪控制算法根据距离偏差调节实时航速,可使AUV提前减速以低速转向,抗积分饱和可避免航速超调,参数自适应以适应多种航行工况.AUV能准确跟踪期望航迹,最大航迹偏差小于1.0 m,并且大角度转向时可有效减小航迹超调.A path tracking control algorithm based on the dual closed-loop motion control of heading and speed was designed to solve the overshoot of autonomous underwater vehicles(AUV)in the plane straight-line path tracking problem.The tracking algorithm followed the line-of-sight(LOS)guidance law.The design of the time-varying forward-looking distance was selected to increase the maneuverability of AUV.The first-order inertial filter was used to suppress the step change of the expected heading angle.The control algorithm adopted anti-integral saturation PID control and the parameter self-adaptation were adopted to increase the robustness of the control algorithm.The heading and speed control was designed as a double closed-loop to adjust the AUV speed according to the distance deviation from the end of the desired path.The results show that the path tracking control algorithm adjusts the real-time speed according to the distance deviation,which makes the AUV decelerate in advance and turns at low speed,the anti-integral saturation avoids the speed overshoot and the parameter is adaptive for the variety of condition.The AUV accurately tracks the desired path with a maximum deviation of less than 1.0 m and the tracking overshoot effectively reduces at large turning angles.

关 键 词：自主水下航行器 航迹跟踪 视线导引法 抗饱和积分 双闭环控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]