改进型自抗扰在ROV位姿控制中的应用  

Application of improved active disturbance rejection in ROV pose control

作　　者：王翻 武建国[1,2,3] 王晓鸣 梁胜国 王顺 WANG Fan;WU Jianguo;WANG Xiaoming;LIANG Shengguo;WANG Shun(School of Mechical Engineering,Hebei University of Technology,Tianjin 300401,China;Tianjin Hanhai-lanfan Marine Technology Co.,Ltd.,Tianjin 300300,China;Tianjin Key Laboratory of Deep-sea Intelligent Mobile Survey Equipment,Tianjin 300300,China)

机构地区：[1]河北工业大学机械工程学院,天津300401 [2]天津瀚海蓝帆海洋科技有限公司,天津300300 [3]天津市深远海智能移动勘测装备研发重点实验室,天津300300

出　　处：《舰船科学技术》2024年第18期91-98,共8页Ship Science and Technology

基　　金：国家重点研发计划资助项目(2020YFC1521704)。

摘　　要：为提高水下机器人(ROV)在水域环境中的位姿控制能力,结合传统自抗扰控制(Active Disturbance Rejection Control,ADRC)策略中fal函数在分段处过渡不够平滑的特点,提出一种新型非线性函数,用以改进传统fal函数。利用双曲正切函数在原点附近单调递增且连续光滑的特征,通过多项式拟合的方法构建出非线性函数sfal函数,然后使用李雅普诺夫方法对sfal函数进行稳定性分析,基于sfal函数给出扩张状态观测器的一般形式,并由此设计改进的ADRC控制器,通过对控制对象ROV搭建数学模型,利用Matlab/Simulink对系统的输出进行仿真与数值分析。最后,在ROV平台上进行对比实验,实验结果表明,改进型自抗扰控制能够有效抑制系统响应的超调量,并提升ROV位姿状态的抗扰能力。In order to improve the pose control ability of Remotely Operated Vehicle(ROV)in water environment,a new nonlinear function is proposed to improve the traditional fal function,which is not smooth enough in the transition of fal function in traditional Active Disturbance Rejection Control(ADRC)strategy.By adopting the monotonic increasing and continuous smooth characteristic of hyperbolic tangent function near the origin,the nonlinear function sfal function is constructed by polynomial fitting.Then the stability of sfal function is analyzed by Lyapunov method.Based on sfal function,the general form of extended state observer(ESO)is given,and an improved ADRC is designed.Finally,the mathematical model of ROV is established,and the output of the system is simulated and analyzed by Matlab/Simulink.Finally,a comparative experiment is carried out on the ROV platform.The experimental results show that the improved ADRC can effectively suppress the overshoot of the system response and improve the anti-disturbance ability of the ROV pose state.

关 键 词：自抗扰控制 水下机器人 扩张状态观测器 姿态控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]