基于AKF的无人水翼航行器纵向姿态控制研究  

Research on longitudinal attitude control of unmanned hydrofoil vehicles based on AKF

作　　者：孙佳宇 段富海[1] SUN Jiayu;DUAN Fuhai(School of Mechanical Engineering,Dalian University of Technology,Dalian 116024,China)

机构地区：[1]大连理工大学机械工程学院,辽宁大连116024

出　　处：《兵器装备工程学报》2023年第2期108-112,共5页Journal of Ordnance Equipment Engineering

基　　金：国家自然科学基金项目(51975082)。

摘　　要：无人水翼航行器在运行过程中会受到海浪干扰,使得无人水翼航行器姿态控制效果变差,而传统卡尔曼滤波(KF)过程噪声矩阵为固定值,在复杂海况下滤波效果并不理想。针对上述问题,基于一种无人水翼航行器,首先建立了其纵向运动数学模型,并设计了纵向姿态LQR控制器。然后设计了一种基于新息卡方检验值的自适应卡尔曼滤波(AKF),以自适应调节过程噪声矩阵,并将AKF用于对系统反馈状态进行最优估计。通过仿真验证了基于AKF的纵向姿态控制器,能够有效抑制海浪干扰,可以使无人水翼航行器在海浪中平稳运行。An unmanned hydrofoil vehicle is disturbed by sea waves during operation, which deteriorates its attitude control effect. However, noise matrix of the traditional Kalman filter(KF) process is a fixed value, and the filtering effect is not ideal under complex sea conditions. Firstly, to solve the above problems, based on an unmanned hydrofoil vehicle, a mathematical model of its longitudinal motion is established, and an LQR controller with a longitudinal attitude is designed. Then, an adaptive Kalman filter(AKF) based on the new Chi square test is designed to adaptively adjust the process noise matrix, and the AKF is used to optimally estimate the feedback state of the system. The simulation results show that the longitudinal attitude controller based on AKF can effectively suppress the interference of waves and make the unmanned hydrofoil vehicle run smoothly in waves.

关 键 词：无人水翼航行器 纵向姿态控制 LQR 海浪干扰 自适应卡尔曼滤波(AKF) 

分 类 号：U664.82[交通运输工程—船舶及航道工程]