基于非线性补偿LQR的全驱动碟式水下机器人控制  

Nonlinear compensation LQR control of fully-actuated dish-shaped underwater vehicle

作　　者：许一航 刘剑 武永宝 王山丹 孙长银[1] XU Yi-hang;LIU Jian;WU Yong-bao;WANG Shan-dan;SUN Chang-yin(School of Automation,Southeast University,Nanjing Jiangsu 210018,China)

机构地区：[1]东南大学自动化学院,江苏南京210018

出　　处：《控制理论与应用》2024年第10期1783-1790,共8页Control Theory & Applications

基　　金：国家自然科学基金项目(61921004,62103099);科技部“2030–人工智能专项”重大项目(2018AAA0101400);江苏省前沿引领技术基础研究专项项目(BK20202006)资助.

摘　　要：本文提出了一种仅使用6个推进器实现全自由度可控的圆碟式水下机器人结构,在静水环境下对其进行动力学建模.随后,基于此模型提出一种带非线性补偿环节的线性二次型调节器(LQR)反馈控制方法,可通过双向水下推进器实现对水下机器人6个自由度的全驱动控制并抑制由重力矩导致的扰动.最后,经仿真试验表明本文设计的非线性补偿算法对重力矩扰动具有很强的抑制作用,控制器能稳定实现水下机器人六自由度状态跟踪,本文中设计的推进器布局也对全驱动水下机器人的设计具有一定的指导意义.This paper proposes a design of dish-shaped underwater vehicle with controllable full degree of freedom using only six thrusters,and gives out dynamic modeling in still water environment.Based on this model,a linear quadratic regulator with nonlinear compensation is proposed.The six degrees of freedom fully-actuated control of the underwater vehicle can be realized through its bidirection underwater thrusters,and the disturbance caused by the gravity moment can be suppressed.The simulation results show that the control algorithm can stably realize the six degrees of freedom state tracking,and the nonlinear compensation has a strong inhibitory effect on the gravity moment disturbance.The thruster layout designed in this paper also has certain guiding significance for the design of fully-actuated underwater vehicle.

关 键 词：自主无人潜水器 线性二次型调节器 全驱动控制 非线性补偿 

分 类 号：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]