基于连续滑模控制的水下无人航行器航向跟踪研究  

Research on underwater submersible course tracking based on continuous sliding mode control

作　　者：杨晨宇 刘丹 刘璐[1] 王永华[1] 齐向东 刘双峰[1] 薛晨阳[1] YANG Chen-yu;LIU Dan;LIU Lu;WANG Yong-hua;QI Xiang-dong;LIU Shuang-feng;XUE Chen-yang(Key Laboratory of Instrumentation Science and Dynamic Measurement,Ministry of Education,North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学仪器科学与动态测试教育部重点实验室,山西太原030051

出　　处：《舰船科学技术》2023年第12期63-68,共6页Ship Science and Technology

基　　金：国家自然科学基金资助项目(62001428);山西省重点研发计划(2021020101010);山西省回国留学人员科研资助项目(2022-144)。

摘　　要：本文提出在构建模糊水下无人航行器运动学模型的前提下,设计一款基于时变干扰观测器的连续滑模控制器。干扰观测器把系统误差及外界干扰等效到控制端,连续滑模控制器通过切换控制量使系统趋于平衡点。该控制器可快速响应,且对于模型参数变化及外界干扰不敏感,具有较强的鲁棒性。此外,将直线、正弦波及自定义曲线设置为预定航向,通过Matlab/Simulink进行仿真验证水下无人航行器是否可以实现在复杂水域下的轨迹跟踪,达到航向控制目的。This paper proposes to design a continuous sliding mode controller based on a time-varying disturbance observer under the premise of constructing a fuzzy submersible kinematic model.The disturbance observer equates the system error and external disturbance to the control side,and the continuous sliding mode controller converges the system to the equilibrium point by switching the control quantity.The controller can respond quickly and is insensitive to model parameter changes and external disturbances,and has strong robustness.In addition,straight line,sinusoidal wave and custom curve are set as the predetermined heading,and the simulation is carried out by Matlab/Simulink to verify whether the submersible can achieve the trajectory tracking in complex waters and achieve the heading control purpose.

关 键 词：水下无人航行器 连续滑模控制 航向跟踪 时变干扰观测器 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]