UUV定深控制模型参数优化设计方法  

Research on Parameter Optimization Method for UUV Depth Setting Control Model

作　　者：谢虎 吴维 董元发 孙善春 於楷 XIE Hu;WU Wei;DONG Yuanfa;SUN Shanchun;YU Kai(Qingjiang Innovation Center,Wuhan 430076,China;No.710 R&D Institute,CSSC,Yichang 443003,China;College of Mechanical&Power Engineering,China Three Gorges University,Yichang 443002,China)

机构地区：[1]清江创新中心,湖北武汉430076 [2]中国船舶集团有限公司第七一〇研究所,湖北宜昌443003 [3]三峡大学机械与动力学院,湖北宜昌443002

出　　处：《数字海洋与水下攻防》2024年第2期177-185,共9页Digital Ocean & Underwater Warfare

基　　金：国防科工局基础科研项目“虚实结合的***多学科敏捷设计技术”(JCKY2021206B005)。

摘　　要：合适的控制模型参数能够保证被控对象在较快的响应时间和较小的超调量下达到控制目标,无人水下航行器定深控制模型参数的优化设计对提升水下航行器使用性能具有重要意义。首先,建立了水下航行器空间运动学方程,基于Modelica建模语言构建了航行器虚拟样机及其定深控制模型。然后,以响应时间和超调量最小为优化目标,采用非支配排序差分进化算法建立了水下航行器定深控制模型参数多目标优化流程,基于OPTIMUS平台构建了水下航行器定深控制模型参数优化设计工作流。以某水下航行器为对象的实验结果表明:所提方法可快速获得较优的PID控制模型参数,优化后的水下航行器定深运动控制特性显著改善。Proper parameters of a control model can ensure that the controlled object realizes its control purpose in a fast response time and with a small overshoot.The optimal design of parameters for UUV depth setting control model is of great significance to improve UUV performance.Firstly,UUV space kinematics equation is established,and a UUV virtual prototype and its depth setting control model are constructed based on Modelica modeling language.Then,to minimize the response time and overshoot,the multi-objective optimization process for parameters of UUV depth setting control model is established by using non-dominated sorting differential evolution algorithm,and the design workflow of parameters optimization is constructed based on OPTIMUS platform.The experimental results of an UUV show that optimal PID control model parameters can be obtained quickly with the proposed method,and the optimized control characteristics of UUV depth setting motion are significantly improved.

关 键 词：水下航行器定深 MODELICA 参数优化 OPTIMUS 

分 类 号：TJ610[兵器科学与技术—武器系统与运用工程] U664.82[交通运输工程—船舶及航道工程]