基于NLADRC的水下飞行器姿态控制算法  

Attitude control algorithm of underwater vehicle based on NLADRC

作　　者：蒋皓 贾云飞[1] 陶灿辉[2] JIANG Hao;JIA Yunfei;TAO Canhui(College of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China;China Shipbuilding Science Research Center,Wuxi 214000,China)

机构地区：[1]南京理工大学机械工程学院,江苏南京210094 [2]中国船舶科学研究中心,江苏无锡214000

出　　处：《中国测试》2024年第4期119-124,共6页China Measurement & Test

摘　　要：针对水下飞行器系统模型中非线性强、并且在水下运动的过程中常遇到各种干扰的问题,提出一种抗扰性较强的非线性自抗扰姿态控制算法。根据刚体动力学理论,得到水下飞行器的三自由度俯仰运动模型,并详细阐述自抗扰控制器的结构及各个组成部分,确定参数整定的原则。仿真表明本算法可以通过单一改变观测器和控制器带宽大小而完成对姿态跟踪控制的调整,与传统PID控制和最优控制相比,非线性自抗扰控制器喷管摆角变化幅度和超调量更小、过渡时间更短,在有脉冲力矩干扰情况下,控制效果更好,为后面水下飞行器的进一步实验提供理论依据。Aiming at the problems of strong nonlinearity in the underwater vehicle system model and various disturbances in the process of underwater motion,a nonlinear active disturbance rejection attitude control algorithm with strong immunity is proposed.According to the rigid body dynamics theory,the three-degree-offreedom pitching motion model of underwater vehicle is obtained.The structure and components of ADRC are described in detail,and the principle of parameter tuning is determined.The simulation shows that this algorithm can complete the adjustment of attitude tracking control by changing the bandwidth of the observer and the controller.Compared with the traditional PID control and optimal control,the variation amplitude and overshoot of the nozzle swing angle of the nonlinear active disturbance rejection controller are smaller,and the transition time is shorter.In the case of pulse torque disturbance,the control effect is better,which provides a theoretical basis for the further experiment of the underwater vehicle.

关 键 词：水下飞行器 姿态控制 非线性自抗扰控制 抗扰性 

分 类 号：TB9[一般工业技术—计量学] V249[机械工程—测试计量技术及仪器]