基于自抗扰的自主水下航行器地形跟踪控制

为保证自主水下航行器在进行地形跟踪任务时,可以更好地抵抗外界环境及自身信号传输的干扰作用,提出一种基于自抗扰控制技术的地形跟踪控制方法,可以将地形跟踪转化为水下机器人的纵倾控制,并设计有运动保护机制。在仿真实验中,利用所设计方法,进行了三维运动仿真,模拟了机器人从水面到水下完成地形跟踪任务的全过程,并与基于PID控制方法的控制器进行比较。结果表明,基于自抗扰控制技术的地形跟踪控制方法能够准确完成预定任务,同时,相比于基于PID的跟踪方法,能够更有效地抑制干扰所造成的超调和震颤等现象,具有更优的控制效果。

AUV's Bottom Following Control Method Based on ADRC

To make sure an autonomous underwater vehicle (AUV) have better resistance to the interference of the external environment and its own signal transmission, a bottom-following control method based on active disturbance rejection control (ADRC) is offered. The control method can transform the bottom-following control into pitch control and be designed with an AUV’s motion protection mechanism. In the simulation, a three-dimensional motion control, which is based on the proposed method, is made to simulate the whole process of AUV finishing the bottom-following task from the surface to the sea bottom. And it is compared with the control method based on PID. The results show that the ADRC-based bottom-following control method can fulfill the scheduled tasks accurately. Compared with PID, the new method has better control results, and can effectively suppress the overshoot and shake caused by interference.