| AUV平面直线航迹跟踪控制算法 |
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| 引用本文： | 叶梦佳,王宇轩,王赟,赖周年,曹琳琳,吴大转. AUV平面直线航迹跟踪控制算法[J]. 浙江大学学报(工学版), 2022, 56(11): 2127-2134. DOI: 10.3785/j.issn.1008-973X.2022.11.003 |
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| 作者姓名： | 叶梦佳 王宇轩 王赟 赖周年 曹琳琳 吴大转 |
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| 作者单位： | 1. 流体动力与机电系统国家重点实验室，浙江 杭州 3100272. 浙江大学 能源工程学院，浙江 杭州 3100273. 浙江大学湖州研究院，浙江 湖州 313000 |
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| 基金项目： | 流体动力与机电系统国家重点实验室主任基金资助项目 |
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| 摘 要： | 针对自主水下航行器（AUV）在平面直线航迹跟踪过程中的航迹超调问题，设计基于航向航速双闭环运动控制的航迹跟踪控制算法.跟踪算法以视线导引法（LOS）为基础，设计时变前视距离提高AUV的机动性，并以一阶惯性滤波抑制因航向切换产生期望航向角的阶跃变化.控制算法采用抗积分饱和PID控制及参数自适应，以增加算法的鲁棒性，并将航向航速控制设计成双闭环，使得AUV航行时期望航迹段终点的距离偏差实时调整期望航速.结果表明，此航迹跟踪控制算法根据距离偏差调节实时航速，可使AUV提前减速以低速转向，抗积分饱和可避免航速超调，参数自适应以适应多种航行工况. AUV能准确跟踪期望航迹，最大航迹偏差小于1.0 m，并且大角度转向时可有效减小航迹超调.
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| 关 键 词： | 自主水下航行器 航迹跟踪 视线导引法 抗饱和积分 双闭环控制 |
Straight-line path tracking control algorithm of AUV planar motion |
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| Meng-jia YE,Yu-xuan WANG,Yun WANG,Zhou-nian LAI,Lin-lin CAO,Da-zhuan WU. Straight-line path tracking control algorithm of AUV planar motion[J]. Journal of Zhejiang University(Engineering Science), 2022, 56(11): 2127-2134. DOI: 10.3785/j.issn.1008-973X.2022.11.003 |
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| Authors: | Meng-jia YE Yu-xuan WANG Yun WANG Zhou-nian LAI Lin-lin CAO Da-zhuan WU |
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| Abstract: | A path tracking control algorithm based on the dual closed-loop motion control of heading and speed was designed to solve the overshoot of autonomous underwater vehicles (AUV) in the plane straight-line path tracking problem. The tracking algorithm followed the line-of-sight (LOS) guidance law. The design of the time-varying forward-looking distance was selected to increase the maneuverability of AUV. The first-order inertial filter was used to suppress the step change of the expected heading angle. The control algorithm adopted anti-integral saturation PID control and the parameter self-adaptation were adopted to increase the robustness of the control algorithm. The heading and speed control was designed as a double closed-loop to adjust the AUV speed according to the distance deviation from the end of the desired path. The results show that the path tracking control algorithm adjusts the real-time speed according to the distance deviation, which makes the AUV decelerate in advance and turns at low speed, the anti-integral saturation avoids the speed overshoot and the parameter is adaptive for the variety of condition. The AUV accurately tracks the desired path with a maximum deviation of less than 1.0 m and the tracking overshoot effectively reduces at large turning angles. |
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| Keywords: | AUV path tracking line-of-sight guidance law anti-integral saturation double-loop control |
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