基于线性自抗扰的水下运载器控制  

Underwater Vehicle Control Based on Linear Active Disturbance Rejection

作　　者：高全喜 可伟 乔海岩 GAO Quanxi;KE Wei;QIAO Haiyan(Hebei Hanguang Industry Co.,Ltd.,Handan 056017,Hebei,China)

机构地区：[1]河北汉光重工有限责任公司,河北邯郸056017

出　　处：《兵工学报》2023年第3期783-791,共9页Acta Armamentarii

基　　金：河北省重点研发计划项目(21313501D)。

摘　　要：针对水下运载器强非线性、强耦合、外界干扰、自身参数不确定的影响,基于线性自抗扰控制提出一种姿态解耦控制方法。将水下运载器各控制通道的相互耦合以及内外部的干扰作为总和扰动,通过扩张状态观测器对其进行估计,并引入到反馈控制器中进行补偿,使原非线性系统转化成线性系统,实现解耦控制。引入虚拟控制量,对舵引起的耦合进行解耦。基于此控制系统和水下运载器非线性动力学模型,给出稳定性分析。仿真结果表明,基于线性自抗扰的控制器具有响应快速、超调与稳态误差小、鲁棒性强的特点,较PID控制动态性能与抗干扰能力有较大提升。To deal with the influence of strong nonlinearity,strong coupling,external disturbance and uncertain parameters of underwater vehicle,an attitude decoupling control method based on linear active disturbance rejection control is proposed.The mutual coupling of each control channel of the underwater vehicle and the internal and external disturbances are regarded as the total disturbance,which is estimated by the extended state observer and introduced into the feedback controller for compensation.The original nonlinear system is transformed into a linear system to realize decoupling control.The virtual control quantity is introduced to decouple the coupling caused by the rudder.Based on the control system and the nonlinear dynamic model of the underwater vehicle,the stability analysis is given.The simulation results show that the controller based on linear active disturbance rejection has the characteristics of fast response,small overshoot and steady-state error,and strong robustness.Compared with PID control,the dynamic performance and anti-disturbance ability are greatly improved.

关 键 词：控制理论 姿态控制 水下运载器 线性自抗扰 多通道解耦 

分 类 号：TJ765.2[兵器科学与技术—武器系统与运用工程]