水下机器人特性分析及其控制方法研究
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摘要
水下机器人作为人类探索和开发海洋的工具，其在军事和民用两方面都发挥着重要的作用，21世纪将是水下机器人技术迅速发展和应用的时代，水下机器人这一高新技术也将成为学者们研究的重点。到目前为止，学者们已经将多种控制方法应用到了水下机器人系统中，已取得了很多优秀的成果，但是对于水下机器人的控制来说仍有很多问题有待于解决。考虑到水下机器人所处的海洋环境的复杂多变，如何在不同海况下实时判定水动力系数，进而建立相对精确的数学模型，如何设计更为有效的控制器来控制水下机器人的运动，如何在系统出现执行器和传感器故障情况下设计稳定的控制器来帮助水下机器人完成任务，这些都是需要我们进一步研究的问题。
本论文首先从水下机器人的系统特性出发，以速度势函数作为桥梁，利用势流理论研究了水下机器人所处海况与水动力系数的关系；其次，在不考虑系统出现故障的情况下，对水下机器人系统进行线性化处理，进而给出了水下机器人航向和潜深控制器的设计方法；最后，针对水下机器人的强耦合、非线性的特点，同时考虑执行器和传感器故障，提出了几种容错控制方法。
本论文在充分继承前人成果的基础上，作了进一步的研究，主要取得了下面的创新性成果：
一、设计了鲁棒H∞航向控制器和潜深控制器。在不考虑执行器和传感器故障的情况下，利用线性矩阵不等式知识为水下机器人航向控制系统、潜深控制系统分别设计了鲁棒H∞航向控制器和潜深控制器。所设计的基于状态观测器的鲁棒H∞控制器，解决了部分状态不可测的自治式水下机器人航向控制系统的控制器设计问题，并实现了状态观测器和控制器的同时设计，和前人给出的方法相比具有收敛速度快和待求参数矩阵少的特点。另外，在已有的自治式水下机器人潜深动力学模型的基础上，给控制输入引入了一个具有硬性限制的控制舵角扰度，使得所研究的控制问题更具有实际意义。应用线性矩阵不等式的处理方法，将控制受限的水下机器人的潜深控制器的存在问题转化为线性矩阵不等式是否有可行解的问题。该方法的给出为水下机器人潜深控制器设计方法提供了新的思路；
二、提出了基于线性矩阵不等式的H∞容错控制方法。利用线性矩阵不等式知识，针对一类非线性项满足利普希茨条件的非线性系统，分别给出了只发生执行器故障和同时发生传感器、执行器故障两种情况下的H∞容错控制器设计方法，并将该方法成功应用到水下机器人航向控制系统中。该H∞容错控制方法不仅保证了水下机器人系统在故障和正常情况下系统的稳定性，而且对干扰具有较好的抑制作用，它不仅适用于水下机器人航向控制系统，也适用于非线性项满足李普希茨条件的多输入的非线性系统，该容错控制方法为非线性系统的容错控制提供了新途径；
三、提出了基于反馈线性化的水下机器人保性能容错控制方法，该方法不仅可以保证具有传感器故障时的系统的稳定性，还可以使系统具有指定的性能指标，为解决水下机器人传感器故障问题提供了新思路，具有一定的理论和实际意义；
四、提出了基于故障诊断观测器的容错控制方法，分别针对具有常值故障和时变故障两种故障形式的非线性系统，设计了故障诊断观测器和容错控制器，将适用于线性系统的容错控制方法推广到了一类特殊的非线性系统，拓宽了应用范围，并将该方法应用到水下机器人航向控制系统中。文中所设计的容错控制器不仅可以保证故障系统的渐进稳定性，还可以使故障系统满足多种性能指标。在矩阵不等式的处理过程中，采用分块矩阵形式，使得运算简单方便。
Underwater vehicle, as marine tool explored and developed by human, is playing animportant role in both military and civilian fields. Underwater vehicle that will be furtherdeveloped and more sophisticated along with development and utilization of marine resources,protection of marine, and human knowledge, will be widely used in21st century. So far,many control methods have been applied to system of underwater vehicle, and contributed tomany outstanding achievements. However, there are still a lot of problems to be solved incontrol of underwater vehicle.Taking into account the complexity of the existing environmentof underwater vehicle, it is necessary to conduct further research concerning how to determinethe hydrodynamic coefficients in different marine conditions at any time and establish aprecise relatively mathematical model, how to design a more effective controller to makeunderwater vehicle move, and how to design a stable controller to help underwater vehicle tocomplete work when the systems have faults of actuator and sensor, etc.
Firstly, from the perspective of system characteristics of underwater vehicle, therelationships between hydrodynamic coefficients and marine conditions of underwater vehiclewill be researched by using potential flow theory with the velocity potential function as abridge. Secondly, under the considering that system is no fault, design method of diving depthcontroller and underwater vehicle heading are both proposed through linearization ofunderwater vehicle system. Finally, some methods of fault-tolerant control are describedtaking into account the actuator and sensor failure, as well as the characteristics in strongcoupling and nonlinear.
The contents and innovations in this paper are as follows on the basis of absorption ofthe previous results and research advanced:
Firstly, robust H∞heading controller and diving depth controller have been designed.Without taking into account the fault of actuator and sensor, the robust H∞heading controllerand diving depth controller have been designed respectively by using linear matrix inequalityin heading control system and diving depth control system of underwater vehicle. The part ofstate nonmeasurable problems in heading control system of underwater vehicle can be solvedby robust H∞controller of state observer which has been designed, and achieve asimultaneous design of state observer and controller. It has advantage of fast convergence rateand less unknown parameter matrix comparing to the previous. In addition, in the base of dynamic model in existing underwater vehicle, it will make more practical significance incontrol problem though introducing hardness limited in control input. The existing problem ofdiving depth controller of underwater vehicle is converted to the problem whether linearmatrix inequality has feasible solution.It will provide a new idea to design diving depthcontroller of underwater vehicle by using methods mentioned above.
Secondly, based on linear matrix inequality, a method of H∞fault-tolerant control ispresented. The methods of H∞fault-tolerant control on the conditions that only actuatorfaults or simultaneous sensor and actuator faults exist have been designed respectively using aclass of nonlinear systems satisfying Lipschitz condition. The methods above have beenapplied to heading controller successfully. The methods of H∞fault-tolerant control not onlyensure the system to achieve stability in fault or normal circumstances, but inhibit interferenceeffectively. It applies not only to the course in heading control system of underwater vehicle,but also applies to multi-input nonlinear systems satisfying Lipschitz conditions, whichprovide a new way to achieve fault-tolerant control of nonlinear system.
Thirdly, based on feedback linearization theory, a method of guaranteed costfault-tolerant control in underwater vehicle is proposed, which not only can make the systemin stability in sensor failure, but make the system fulfill the specified performance indicators.It certainly has some theoretical and practical significance to provide a new way to reslovesensor fault of underwater vehicle.
Fourthly, the fault-tolerant control method is proposed based on fault diagnosis observer,fault diagnosis observer and fault-tolerant controller are respectively designed correspondingto the nonlinear systems of constant fault and time-varying fault. The fault-tolerant controlmethod applied to the linear system is extended to a special class of nonlinear systems,broadening the range of application, and applying to heading control system of underwatervehicle. The fault-tolerant controller designed not only can guarantee the asymptotic stabilityin fault system, but meet multi-performance index. It will be simple and convenient when theform of partitioned matrix is used.
本论文首先从水下机器人的系统特性出发，以速度势函数作为桥梁，利用势流理论研究了水下机器人所处海况与水动力系数的关系；其次，在不考虑系统出现故障的情况下，对水下机器人系统进行线性化处理，进而给出了水下机器人航向和潜深控制器的设计方法；最后，针对水下机器人的强耦合、非线性的特点，同时考虑执行器和传感器故障，提出了几种容错控制方法。
本论文在充分继承前人成果的基础上，作了进一步的研究，主要取得了下面的创新性成果：
一、设计了鲁棒H∞航向控制器和潜深控制器。在不考虑执行器和传感器故障的情况下，利用线性矩阵不等式知识为水下机器人航向控制系统、潜深控制系统分别设计了鲁棒H∞航向控制器和潜深控制器。所设计的基于状态观测器的鲁棒H∞控制器，解决了部分状态不可测的自治式水下机器人航向控制系统的控制器设计问题，并实现了状态观测器和控制器的同时设计，和前人给出的方法相比具有收敛速度快和待求参数矩阵少的特点。另外，在已有的自治式水下机器人潜深动力学模型的基础上，给控制输入引入了一个具有硬性限制的控制舵角扰度，使得所研究的控制问题更具有实际意义。应用线性矩阵不等式的处理方法，将控制受限的水下机器人的潜深控制器的存在问题转化为线性矩阵不等式是否有可行解的问题。该方法的给出为水下机器人潜深控制器设计方法提供了新的思路；
二、提出了基于线性矩阵不等式的H∞容错控制方法。利用线性矩阵不等式知识，针对一类非线性项满足利普希茨条件的非线性系统，分别给出了只发生执行器故障和同时发生传感器、执行器故障两种情况下的H∞容错控制器设计方法，并将该方法成功应用到水下机器人航向控制系统中。该H∞容错控制方法不仅保证了水下机器人系统在故障和正常情况下系统的稳定性，而且对干扰具有较好的抑制作用，它不仅适用于水下机器人航向控制系统，也适用于非线性项满足李普希茨条件的多输入的非线性系统，该容错控制方法为非线性系统的容错控制提供了新途径；
三、提出了基于反馈线性化的水下机器人保性能容错控制方法，该方法不仅可以保证具有传感器故障时的系统的稳定性，还可以使系统具有指定的性能指标，为解决水下机器人传感器故障问题提供了新思路，具有一定的理论和实际意义；
四、提出了基于故障诊断观测器的容错控制方法，分别针对具有常值故障和时变故障两种故障形式的非线性系统，设计了故障诊断观测器和容错控制器，将适用于线性系统的容错控制方法推广到了一类特殊的非线性系统，拓宽了应用范围，并将该方法应用到水下机器人航向控制系统中。文中所设计的容错控制器不仅可以保证故障系统的渐进稳定性，还可以使故障系统满足多种性能指标。在矩阵不等式的处理过程中，采用分块矩阵形式，使得运算简单方便。
Underwater vehicle, as marine tool explored and developed by human, is playing animportant role in both military and civilian fields. Underwater vehicle that will be furtherdeveloped and more sophisticated along with development and utilization of marine resources,protection of marine, and human knowledge, will be widely used in21st century. So far,many control methods have been applied to system of underwater vehicle, and contributed tomany outstanding achievements. However, there are still a lot of problems to be solved incontrol of underwater vehicle.Taking into account the complexity of the existing environmentof underwater vehicle, it is necessary to conduct further research concerning how to determinethe hydrodynamic coefficients in different marine conditions at any time and establish aprecise relatively mathematical model, how to design a more effective controller to makeunderwater vehicle move, and how to design a stable controller to help underwater vehicle tocomplete work when the systems have faults of actuator and sensor, etc.
Firstly, from the perspective of system characteristics of underwater vehicle, therelationships between hydrodynamic coefficients and marine conditions of underwater vehiclewill be researched by using potential flow theory with the velocity potential function as abridge. Secondly, under the considering that system is no fault, design method of diving depthcontroller and underwater vehicle heading are both proposed through linearization ofunderwater vehicle system. Finally, some methods of fault-tolerant control are describedtaking into account the actuator and sensor failure, as well as the characteristics in strongcoupling and nonlinear.
The contents and innovations in this paper are as follows on the basis of absorption ofthe previous results and research advanced:
Firstly, robust H∞heading controller and diving depth controller have been designed.Without taking into account the fault of actuator and sensor, the robust H∞heading controllerand diving depth controller have been designed respectively by using linear matrix inequalityin heading control system and diving depth control system of underwater vehicle. The part ofstate nonmeasurable problems in heading control system of underwater vehicle can be solvedby robust H∞controller of state observer which has been designed, and achieve asimultaneous design of state observer and controller. It has advantage of fast convergence rateand less unknown parameter matrix comparing to the previous. In addition, in the base of dynamic model in existing underwater vehicle, it will make more practical significance incontrol problem though introducing hardness limited in control input. The existing problem ofdiving depth controller of underwater vehicle is converted to the problem whether linearmatrix inequality has feasible solution.It will provide a new idea to design diving depthcontroller of underwater vehicle by using methods mentioned above.
Secondly, based on linear matrix inequality, a method of H∞fault-tolerant control ispresented. The methods of H∞fault-tolerant control on the conditions that only actuatorfaults or simultaneous sensor and actuator faults exist have been designed respectively using aclass of nonlinear systems satisfying Lipschitz condition. The methods above have beenapplied to heading controller successfully. The methods of H∞fault-tolerant control not onlyensure the system to achieve stability in fault or normal circumstances, but inhibit interferenceeffectively. It applies not only to the course in heading control system of underwater vehicle,but also applies to multi-input nonlinear systems satisfying Lipschitz conditions, whichprovide a new way to achieve fault-tolerant control of nonlinear system.
Thirdly, based on feedback linearization theory, a method of guaranteed costfault-tolerant control in underwater vehicle is proposed, which not only can make the systemin stability in sensor failure, but make the system fulfill the specified performance indicators.It certainly has some theoretical and practical significance to provide a new way to reslovesensor fault of underwater vehicle.
Fourthly, the fault-tolerant control method is proposed based on fault diagnosis observer,fault diagnosis observer and fault-tolerant controller are respectively designed correspondingto the nonlinear systems of constant fault and time-varying fault. The fault-tolerant controlmethod applied to the linear system is extended to a special class of nonlinear systems,broadening the range of application, and applying to heading control system of underwatervehicle. The fault-tolerant controller designed not only can guarantee the asymptotic stabilityin fault system, but meet multi-performance index. It will be simple and convenient when theform of partitioned matrix is used.
引文
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