基于动态矩阵方法的欠驱动AUV运动控制研究  

Research on motion control of underactuated AUV based on dynamic matrix method

作　　者：王晓鸣[1,2,3] 田奇睿 陈凯 张桐瑞 忻加成 WANG Xiaoming;TIAN Qirui;CHEN Kai;ZHANG Tongrui;XIN Jiacheng(School of Mechanical Engineering,Tianjin University of Science and Technology,Tianjin 300222,China;Tianjin Hanhailanfan 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]天津科技大学机械工程学院,天津300222 [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20期80-86,共7页Ship Science and Technology

基　　金：国家重点研发计划资助项目(2020YFC1521704)。

摘　　要：为解决欠驱动自主水下机器人(AUV)在航行过程中的控制问题,提高其抵抗外部干扰的能力,设计一种新型控制器,该控制器以模型预测控制策略中的动态矩阵控制(DMC)方法为主回路控制器,其目的是通过模型预测与反馈校正的特点使AUV获得良好的跟踪能力。此外,副回路控制器采用频率较高的增量式PID的控制方法,通过优化模型预测向量,设计模型调控参数,最终获得反应速度良好的内回路控制器,其作用是快速抑制突发性扰动。最后,将此控制器应用于AUV首向与深度的仿真实验中,通过仿真实验,验证了该控制器不仅能够满足AUV的控制需求,同时在面对外部时变干扰时具有较好的鲁棒性。In order to solve the control problem of underactuated autonomous underwater vehicle(AUV)during navig-ation and improve its ability to resist external interference,a new controller is designed.The controller takes the dynamic matrix control(DMC)method in the model predictive control strategy as the main loop controller.The purpose is to make AUV obtain good tracking ability through the characteristics of model prediction and feedback corection.In addition,the secondary loop controller adopts the incremental PID control method with high frequency.By optimizing the model predic-tion vector and designing the model control parameters,the internal loop controller with good response speed is finally ob-tained.Its role is to quickly suppress sudden disturbances.Finally,this controller is applied to the simulation experiment of AUV heading and depth.Through simulation experiments,it is verified that the controller can not only meet the control re-quirements of AUV,but also has good robustness in the face of external time-varying interference.

关 键 词：自主水下机器人 动态矩阵控制 PID 串级控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]