摘要
根据一种远程自主水下航行器的组成和特点,建立了纵向运动的非线性数学模型,并进行了线性化处理。在此基础上,基于滑模控制理论,分别研究了基于水平舵的纵向低速巡航控制和高速巡航控制及基于前、后垂向推进器的纵向悬停控制。仿真结果初步表明:该控制器可满足水下航行器纵向巡航控制和悬停控制的需要,并对参数不确定性和未建模动态都具有良好的鲁棒性。
A new type long distance experimental AUV,as shown in Fig.1,has been designed and constructed in Northwestern Polytechnical University.This new type AUV has multiple manipulators and not only can cruise as the traditional AUV by the control surfaces and the propeller,but also can hover in the water as the helicopter in air by the bow vertical cross-body thruster,stern vertical crossbody thruster,bow lateral cross-body thruster and stern lateral cross-body thruster.In the full paper,we explain in detail the design of longitudinal sliding mode control for the above-mentioned new type AUV for slow speed cruise mode,high speed cruise mode as well as hover mode.In the abstract,we just mention six important points in our design：（A）the nonlinear longitudinal kinematical equations of AUV are given as eqs.（1） through（4）;（B）the linearized longitudinal kinematical equations of AUV are given as eqs.（5） through（10）;（C）the equations for the sliding mode controller design are given as eqs.（11） through（26）;（D）the equations for designing the slow speed cruise sliding mode controller by the control surfaces are given as eqs.（27） and（28）;（E） the equations for designing the high speed cruise sliding mode controller by the control surfaces are given as eqs.（29） and（30）;（F） the equations for designing the hover sliding mode controller by the bow vertical cross-body thruster and the stern vertical cross-body thruster are given as eqs.（31） and（32）.The simulation results of sliding mode controller for all modes,summarized in Fig.2 in the full paper,show preliminarily that the sliding-model controller can be adapted to all three modes——low-speed cruise,high-speed cruise,and hover——and is robust to parameter uncertainties and unmodeled dynamics.
出处
《西北工业大学学报》
EI
CAS
CSCD
北大核心
2007年第4期538-542,共5页
Journal of Northwestern Polytechnical University
基金
教育部"新世纪人才支持计划"资助
教育部"水下信息与控制国家级重点实验室基金"资助
关键词
自主水下航行器
滑模控制
巡航控制
悬停控制
autonomous underwater vehicle（AUV）,sliding mode control,cruise control,hover control
作者简介
严卫生（1968-）,西北工业大学教授,博士生导师,主要从事控制理论与控制工程的研究.
