基于PIO-ADRC的自主水下航行器运动控制  

Motion Control of AUV Based on PIO-ADRC

作　　者：彭翼遥 邓忠超[1] 邢明智 赵晓阳 PENG Yiyao;DENG Zhongchao;XING Mingzhi;ZHAO Xiaoyang(Qingdao Innovation and Development Base,Harbin Engineering University,Qingdao 266000,Shandong,China)

机构地区：[1]哈尔滨工程大学青岛创新发展基地,山东青岛266000

出　　处：《中国海洋平台》2024年第4期47-53,共7页China offshore Platform

摘　　要：为进一步提高自主水下航行器(Autonomous Underwater Vehicle,AUV)的控制精度,对六自由度全驱动AUV进行建模,并搭建相应的自抗扰控制器(Active Disturbance Rejection Controller,ADRC)。考虑到传统ADRC待调整参数过多,且必须随着系统进行相应的参数调整,针对此,提出基于鸽群算法优化(Pigeon-Inspired Optimization,PIO)的ADRC(PIO-ADRC),并在相同仿真条件下将其与经过PIO的比例-积分-微分(Pigeon-Inspired Optimized Proportional Integral Derivative,PIO-PID)控制器和传统ADRC的控制效果进行对比。结果表明,使用PIO的ADRC超调量小、稳态误差小、控制效率更高。In order to further improve the control precision of Autonomous Underwater Vehicle(AUV),a six-degree-of-freedom fully actuated AUV is modeled and a corresponding Active Disturbance Rejection Controller(ADRC)is developed.Considering that the traditional ADRC requires excessive parameter tuning and necessitates corresponding adjustments as the system operates,in response to this,a novel approach based on Pigeon-Inspired Optimization(PIO)is proposed to optimize the ADRC.Under the same simulation conditions,the control effectiveness of the PIO-ADRC is compared against that of the Pigeon-Inspired Optimized Proportional Integral Derivative(PIO-PID)controller and traditional ADRC.The results indicate that the ADRC optimized with PIO algorithm exhibits smaller overshoot,reduced steady-state error and higher control efficiency.

关 键 词：水下机器人 运动控制 PIO-ADRC 艏向跟踪 

分 类 号：P75[天文地球—海洋科学] TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]