水下拖曳升沉补偿系统的非参数模型自适应控制

水下拖曳系统拖曳作业时, 拖船航速变化和升沉运动使拖体深度产生较大范围变化. 为补偿拖体深度变化, 本文提出了由外层深度升沉补偿控制系统和内层位置伺服控制系统双层结构的水下拖曳升沉补偿系统总体设计方案, 运用基于紧格式线性化的非参数模型自适应控制方法设计了系统外层深度升沉补偿控制器. 仿真研究表明, 应用了非参数模型自适应控制方法的水下拖曳升沉补偿系统具有良好的动态性能和抗干扰能力.

Nonparametric model adaptive control for underwater towed heave compensation system

In the underwater towed system, the depth variation of the towed body increases dramatically with the velocity changes and the heave motions of the towed ship in the ocean. To compensate the depth changes of the towed body, we propose an integrated control scheme which is composed of the external depth-heave compensation and the inner positionservo control. The external depth-heave compensation controller is designed by using the nonparametric model adaptive control approach which is based on a dynamic linearization of tight format. The simulation study demonstrates that the nonparametric-model-adaptive-control applied to the underwater towed heave-compensation system has excellent dynamic performance and disturbance-rejection capability.