水下作业机器人滑模自抗扰控制方法研究  

Research on sliding mode active disturbance rejection control method of underwater vehicle manipulator system

作　　者：经慧祥 侯冬冬 王凯 秦丽萍 李广华 JING Hui-xiang;HOU Dong-dong;WANG Kai;QIN Li-ping;LI Guang-hua(The 713 Research Institute of CSSC,Zhengzhou 450015,China;Henan Key Laboratory of Underwater Intelligent Equipment,Zhengzhou 450015,China)

机构地区：[1]中国船舶集团有限公司第七一三研究所,河南郑州450015 [2]河南省水下智能装备重点实验室,河南郑州450015

出　　处：《舰船科学技术》2023年第1期101-107,共7页Ship Science and Technology

基　　金：国家超级计算郑州中心首批创新生态系统建设科技专项(201400211100);河南省高等学校重点科研项目计划(22A413003)。

摘　　要：水下作业机器人浮游状态抗流作业过程面临流场强扰动、机械臂与本体内力耦合干扰、运动特性不确定等问题。本文提出一种基于线型扩张观测器的水下机器人滑膜自抗扰控制方法,该方法能够将复杂控制系统解耦为多个串联积分子系统,主要采用线性扩张观测器对作业机器人所受流场干扰因素进行自适应补偿。在此基础上,利用滑膜控制对系统参数摄动不敏感性,增强控制系统的抗干扰性能。最后,结合李雅普诺夫理论分析作业机器人有界稳定控制。仿真结果表明,本文提出的方法相比传统的滑模控制和自抗扰控制方法具有更好的动态跟踪和抗干扰能力。Underwater vehicle manipulator system is faced with strong disturbance of flow field, coupling interference of internal force between manipulator and vehicle, uncertainty of motion characteristics and other problems during floating state anti-current operation. In this paper, a linear extended observer based active disturbance rejection control method for underwater vehicle is proposed. The method can decouple the complex control system into multiple series integration subsystems, and the linear extended observer is mainly used to adaptively compensate the disturbance factors of the working robot’s flow field. So, on this basis, the film control is insensitive to the system parameter perturbation to enhance the anti-interference performance of the control system, and finally, the bounded stability control of the working robot is analyzed with Lyapunov theory. The simulation results show that the proposed method has better dynamic tracking and anti-jamming ability than the traditional sliding mode control and active disturbance rejection control methods.

关 键 词：水下作业机器人 线性扩张状态观测器 滑模自抗扰控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置] TB568[自动化与计算机技术—控制科学与工程]