基于VRFT的AUV自抗扰控制器参数整定方法  

Parameter Tuning Method of Active Disturbance Rejection Controller for AUVs Based on VRFT

作　　者：侯孝东 杨睿[1] 黎明[1] HOU Xiaodong;YANG Rui;LI Ming(Engineering College,Ocean University of China,Qingdao 266500,China)

机构地区：[1]中国海洋大学工程学院,山东青岛266500

出　　处：《水下无人系统学报》2024年第6期1000-1008,共9页Journal of Unmanned Undersea Systems

基　　金：山东省重点研发计划(重大科技创新工程)(2021ZLGX04).

摘　　要：自抗扰控制(ADRC)不依赖模型,抗干扰能力强,可以很好地解决自主水下航行器(AUV)模型不确定性和外部环境复杂的问题,然而ADRC控制器的参数整定存在一定困难。针对该问题,文中提出了一种基于虚拟参考反馈整定(VRFT)的ADRC控制器参数整定方法。首先针对AUV艏摇模型设计了ADRC控制器;其次给出了VRFT-ADRC控制器参数整定方法;最后针对角度传感器延迟问题给出了基于史密斯预估器的ADRC控制器设计方法。仿真证明,该方法能够在模型信息未知的情况下,仅通过开环实验的输入输出数据,对AUV的ADRC控制器参数进行整定,达到期望的控制效果。Active disturbance rejection control(ADRC)is model-independent and exhibits strong robustness against disturbances,effectively addressing the uncertainties of autonomous undersea vehicle(AUV)models and complex external environments.However,parameter tuning for active disturbance rejection controllers presents certain difficulties.To tackle this issue,a parameter tuning method based on virtual reference feedback tuning(VRFT)was proposed.Initially,an active disturbance rejection controller was designed for the yaw model of the AUV.Subsequently,a parameter tuning method for VRFT-active disturbance rejection was presented.Finally,to address the issue of angular sensor delay,a design method for an active disturbance rejection controller based on the Smith predictor was proposed.The simulation results demonstrate that this method can tune the parameters of the active disturbance rejection controller for AUVs solely based on the open-loop experimental input and output data under the condition of unknown model information,achieving the desired control effect.

关 键 词：自主水下航行器 自抗扰控制 参数整定 虚拟参考反馈整定 

分 类 号：TJ630.33[兵器科学与技术—武器系统与运用工程] U664.82[交通运输工程—船舶及航道工程]