基于MPC-MRAC的用于子母式AUV投放的子AUV控制算法  

Sub AUV Control Algorithm for Sub-Parent AUV Delivery Based on MPC-MRAC

作　　者：乔文超 聂伟民 杜选民[1] 周胜增[1] 温斌荣 QIAO Wenchao;NIE Weimin;DU Xuanmin;ZHOU Shengzeng;WEN Binrong(Shanghai Marine Electronic Equipment Research Institute,Shanghai 201108,China;State Key Laboratory of Ocean Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海船舶电子设备研究所,上海201108 [2]上海交通大学海洋工程国家重点实验室,上海200240

出　　处：《船舶工程》2024年第4期112-122,共11页Ship Engineering

基　　金：水声对抗技术重点实验室基础基金(JCKY2023207CH12)。

摘　　要：针对水下搜救、水下集群作业等场合对负载能力、响应速度和多体协同的特殊要求,提出一种子母式自主水下航行器(AUV)概念。针对子母式AUV中的子AUV平台进行投放过程设计与分析,并对不同运动模式下的子AUV进行受力分析和建模。根据子AUV运动特性设计一套基于模型预测控制-模型参考自适应控制算法(MPC-MRAC)的子AUV控制算法,并进行仿真。结果显示:该算法具有较快的响应速度和控制稳定性,适用于子AUV投放后的自主运动控制;其响应速度比反演滑模控制算法快42.48%,比比例积分微分(PID)控制算法快87.05%;控制精度比反演滑模控制算法高77.54%,比PID控制算法高76.19%。针对该系统设计制作样机并开展湖上试验,结果表明,子AUV控制算法具有良好的可行性和可靠性,可顺利实现子AUV投放后运行的安全可靠。子AUV在出舱后经过短时间姿态变化,成功与母AUV分离并顺利进行定深任务,最终达到近似等距分布的效果。研究成果可为用于子母式AUV投放的子AUV提供控制算法基础。Aiming at the special requirements of load capacity,response speed,and multi body collaboration in underwater search and rescue,and underwater cluster operations,a concept of sub-parent autonomous underwater vehicle(AUV)is proposed.The deployment process for the sub AUV platform are designed and analyzed,the force on the sub AUV under different motion modes are analyzed,and a model is established.A sub AUV control algorithm based on MPC-MRAC is designed and simulated based on the motion characteristics of the sub AUV.The algorithm has fast response speed and control stability,and is suitable for autonomous motion control after sub AUV deployment.Its response speed is 42.48%faster than backstepping sliding mode control,87.05%faster than PID control algorithm,and the control accuracy is 77.54%higher than backstepping sliding mode control,76.19%higher than PID control algorithm.A prototype is designed and manufactured for the system,and lake experiments are conducted.The results show that the proposed sub AUV control algorithm has good feasibility and reliability,and can smoothly achieve safe and reliable operation of the sub AUV after deployment.After a short period of attitude change after leaving the cabin,the sub AUV is separated successfully from the parent AUV and is proceeded with the depth fixation task,and an approximate equidistant distribution is ultimately achieved.A control algorithm basis for sub AUVs can be provided by the research results which is used for sub-parent AUV delivery.

关 键 词：子母式AUV 载荷布放 模型参考自适应控制 姿态转换控制 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] TP273.1[自动化与计算机技术—控制科学与工程]