| 具有全向控制的水下碟形滑翔机自抗扰控制 |
| |
| 引用本文： | 张文清,邹佳运,张小川,韩梅,邹司宸. 具有全向控制的水下碟形滑翔机自抗扰控制[J]. 兵工学报, 2022, 43(3): 626-636. DOI: 10.12382/bgxb.2021.0148 |
| |
| 作者姓名： | 张文清 邹佳运 张小川 韩梅 邹司宸 |
| |
| 作者单位： | （1.海军潜艇学院， 山东 青岛 266199； 2.青岛海洋科学与技术国家试点实验室， 山东 青岛 266237） |
| |
| 基金项目： | 国家重点研发计划项目(2019YFC0311700)；;中国博士后科学基金特别资助项目(2020T130771)； |
| |
| 摘 要： | 针对水下碟形滑翔机特殊的外形结构及运动特点,重点研究欠驱动多约束条件下水下碟形滑翔机的自主控制问题.建立水下碟形滑翔机动力学模型,分析水下碟形滑翔机的欠驱动控制特点和平面双轴对称的结构特点;设计具有4个喷水推进器的全向驱动机制,给出全向控制动力输出方程;设计自抗扰控制器,并建立基于MATLAB+MFC软件的水下无人航行...
|
| 关 键 词： | 水下碟形滑翔机 自抗扰控制 稳定分析 水下无人航行器 |
Active Disturbance Rejection Control of Dish-shaped Underwater Vehicle with Omnidirectional Control |
| |
| ZHANG Wenqing,ZOU Jiayun,ZHANG Xiaochuan,HAN Mei,ZOU Sichen. Active Disturbance Rejection Control of Dish-shaped Underwater Vehicle with Omnidirectional Control[J]. Acta Armamentarii, 2022, 43(3): 626-636. DOI: 10.12382/bgxb.2021.0148 |
| |
| Authors: | ZHANG Wenqing ZOU Jiayun ZHANG Xiaochuan HAN Mei ZOU Sichen |
| |
| Affiliation: | (1.Naval Submarine Academy，Qingdao 266199，Shandong，China；2.Pilot National Laboratory for Marine Science and Technology (Qingdao)，Qingdao 266237，Shandong，China) |
| |
| Abstract: | The autonomous control of dish-shaped underwater vehicle under the condition of underactuation and multiple constraints is studied.A mechanical model of the underwater vehicle is established，and the underactuated control characteristics and the planar biaxial symmetrical structure of underwater vehicle are analyzed. An omnidirectional drive mechanism with four water jet thrusters is designed，and an omnidirectional control power output equation is given.An active disturbance rejection controller (ADRC) is designed，and a visual simulation platform of UAVs based on MATLAB+MFC is established. Through a large number of numerical experiments，the reliability and effectiveness of the controller are verified，and the smooth operation of the underwater vehicle in the dynamic process of three-dimensional space is realized. |
| |
| Keywords: | dish-shapedunderwatervehicle activedisturbancerejectioncontrol stabilityanalysis underwaterunmannedvehicle |
| 本文献已被 万方数据 等数据库收录！ |
| 点击此处可从《兵工学报》浏览原始摘要信息 |
|
点击此处可从《兵工学报》下载全文 |
