水下热滑翔机垂直面运动的俯仰角自寻最优自抗扰控制  

The pitch angle control for a vertical-motion thermal glider based on self-searching optimal ADRC

作　　者：徐海峰 杨光[2] 曹新宇 黄志坚[2] XU Hai-feng;YANG Guang;CAO Xin-yu;HUANG Zhi-jian(China Classification Society Zhenjiang Office,Zhenjiang 212002,China;Shanghai Maritime University,Shanghai 201306,China)

机构地区：[1]中国船级社镇江办事处,江苏镇江212002 [2]上海海事大学,上海201306

出　　处：《舰船科学技术》2023年第6期90-95,共6页Ship Science and Technology

摘　　要：针对水下热滑翔机欠驱动系统的优化控制和能耗问题,提出一种自寻最优自抗扰控制方法。以已经建立成熟的热滑翔机数学运动模型为控制对象,将跟踪微分器(TD)和自抗扰控制(ADRC)理论相结合,预调整参考值补偿外部干扰,使所需的控制信号得到优化。将该方法用于水下热滑翔机运动过程控制,实现控制能耗的降低。结果表明,在仿真海洋环境下,运用该控制系统能够得到良好的稳定性、动态性能和自适应性。在保持和跟踪轨迹时,控制信号能耗更小。由于热滑翔机携带的能量有限,节省能量也就意味着增加续航能力。研究结果对于水下热滑翔机的海洋勘测等具有重要意义。A self-searching optimal and self-resistant control method is proposed for the optimal control and energy consumption of underwater thermal glider under-drive systems.The method takes a well established mathematical motion model of a thermal glider as the control object.And the theory of tracking differentiator(TD)and active disturbance rejection control(ADRC)is combined.The external disturbances are compensated by pre-adjusted reference values,which optimizes the required control signal.The method is applied to the motion process control of underwater thermal glider to reduce its energy consumption.The results show that good stability,dynamic performance and self-adaptability can be obtained using the control system in a simulated marine environment.The control signal to maintain and track the trajectory consumes less energy.As thermal gliders carry a limited amount of energy,saving energy also means increased endurance ability.The research results are of great significance for underwater thermal gliders for Marine survey and military use.

关 键 词：水下热滑翔机 跟踪微分器 自抗扰控制 自寻最优 俯仰角 

分 类 号：U674.941[交通运输工程—船舶及航道工程]