仿生水-空跨介质航行器控制系统研究  

Research on control system of bionic water-air cross domain vehicle

作　　者：李宏源 邹勇 邹宇城 吕鹏宇 段慧玲[1,2,3] LI Hong-yuan;ZOU Yong;ZOU Yu-cheng;LV Peng-yu;DUAN Hui-ling(College of Engineering,Peking University,Beijing 100871,China;Pilot National Laboratory for Marine Science and Technology(Qingdao),Qingdao 266237,China;Peking University Nanchang Innovation Institute,Nanchang 330096,China)

机构地区：[1]北京大学工学院,北京100871 [2]青岛海洋科学与技术试点国家实验室,山东青岛266237 [3]北京大学南昌创新研究院,江西南昌330096

出　　处：《舰船科学技术》2023年第20期79-82,共4页Ship Science and Technology

基　　金：国家自然科学基金资助项目(12202010,U2141251,11988102,11872004,91848201);青岛海洋科学与技术试点国家实验室山东省专项经费‘问海计划’项目(No.2021WHZZB2000)。

摘　　要：随着海洋技术与装备的快速发展,对海上无人装备的作战能力提出更高要求。为了有效提高无人系统的跨域作战能力,亟需突破多模态跨域控制技术,实现多系统间的协同配合。基于上述背景,本文首先对国内外跨介质航行器的跨域控制技术进行梳理,并提出适用于仿生水-空跨介质航行器的两栖多模态切换控制技术和复杂海洋环境下的自抗扰控制技术。研究表明,该技术能够有效提升航行器跨域控制的鲁棒性与自抗扰能力。其次,初步设计与跨域控制技术相匹配的仿生水-空跨介质航行器软硬件系统,并论证航行器跨域控制系统的可行性。最后,对本文提出的控制技术进行总结分析,为新型水-空跨介质航行器的跨域控制技术研究提供新的思路。With the rapid development of marine technology and equipment,higher requirements for the combat capability of unmanned equipment at sea has put forward.In order to effectively improve the cross-domain combat capability of unmanned systems,it is urgent to break through the multi-mode cross-domain control technology and realize the coordination among multiple systems.Based on the above background,this paper firstly summarizes the cross-domain control technology of cross-media vehicle at home and abroad,and proposes amphibious multi-mode switching control technology and active disturbance rejection control technology suitable for bionic water-air cross-domain vehicle in complex ocean environment.The research and analysis show that this technology can effectively improve the robustness and active disturbance rejection ability of vehicle cross-domain control.The software and hardware system matching the cross-domain control technology are preliminarily designed and the feasibility of the bionic water-air cross domain vehicle’s control system is demonstrated.Finally,the control technology proposed in this paper is summarized and analyzed,which provides a new idea for the research of cross domain control technology of new water air cross medium vehicle.

关 键 词：仿生水-空跨介质航行器 两栖多模态跨域运动控制 自抗扰控制 软硬件系统 

分 类 号：U674[交通运输工程—船舶及航道工程]