水下滑翔机的三维运动线性控制研究（英文）
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摘要
文章对滑翔机的三维动力学模型进行简化和线性化,通过分析线性化的三维模型,设计了一种线性二次型调节器(LQR)使滑翔机在运动过程中能够抵抗由于外界引起的扰动。滑翔机动力学模型是一个多输入多输出系统,同时由于欠驱动的特点,使得其在滑翔运动中很容易受到外界环境的影响。文中设计了线性反馈控制器来改善滑翔机的控制性能。LQR控制器和比例积分微分控制器(PID)的仿真对比结果显示了LQR控制器具有较快的响应速率,能够使滑翔机在扰动下较快地恢复至稳定滑翔状态,能较好地控制滑翔机的运动。
This paper analyzes a linear system by simplification and linearization of the three dimensional system of underwater glider, and constructs a feedback control law to make the glider motion robust to the disturbances caused by inaccurate measurements or some other uncertain environments.The dynamic modeling of the system which governs buoyancy propelled, fixed wings underwater glider with internal moving mass is multi-input multi-output(MIMO), which is underactuated while easily affected by the ambient environment. A linear feedback control law is established to improve the control performance of the glider. Contrast results of simulations demonstrate that the derived LQR controller has faster response than Proportional Integral Derivative(PID), which manifests its outstanding capability in controlling the underwater gliders.
This paper analyzes a linear system by simplification and linearization of the three dimensional system of underwater glider, and constructs a feedback control law to make the glider motion robust to the disturbances caused by inaccurate measurements or some other uncertain environments.The dynamic modeling of the system which governs buoyancy propelled, fixed wings underwater glider with internal moving mass is multi-input multi-output(MIMO), which is underactuated while easily affected by the ambient environment. A linear feedback control law is established to improve the control performance of the glider. Contrast results of simulations demonstrate that the derived LQR controller has faster response than Proportional Integral Derivative(PID), which manifests its outstanding capability in controlling the underwater gliders.
引文
[1]Graver J G.Underwater glider dynamics control and design[D].Ph.D.thesis,2005.
[2]Wang S X,Sun X J,Wang Y H,Wu J G,Wang X M.Dynamic modeling and motion simulation for a winged hybriddriven underwater glider[J].Chinese Ocean Engineering,2011,25(1):97-112.
[3]Sun Q,Ma J,Yang H,Liu Y J.Nonlinear feed-forward control design for autonomous underwater glider based on stableinversion technique[J].Ship Science and Technology,2014,4:87-92,96.
[4]Bhatta P,Leonard N.Stabilization and coordination of underwater gliders[C]//In:Proceedings of the 41st IEEE Conference on Decision and Control.Las Vegas,Nevada,U.S.A.,2002,2:2081-2086.
[5]Leonard N,Graver J.Model-based feedback control of autonomous underwater gliders[J].IEEE Journal of Oceanic Engineering,2001,26(4):633-645.
[6]Fiorelli E,Leonard N,Bhatta P.Multi-AUV control and adaptive sampling in Monterey Bay[J].IEEE Journal of Oceanic Engineering,2006,31(4):935-948.
[7]Ge H,Xu D M,Zhou Q Y.Dynamic modeling of a low speed underwater vehicle based on moving mass control[J].Mechanical Science and Technology,2007,26(3):327-314.
[8]Cao J J,Cao J L,Yao B H,Lian L.Three dimensional model,hydrodynamics analysis and motion simulation of an underwater glider[C].IEEE of OCEANS in Genova,2015:1-8.
[9]Cao J L,Yao B H,Lian L.Nonlinear pitch control of an underwater glider based on adaptive backstepping approach[J].Journal of Shanghai Jiaotong University(Science),2015,20(6):729-734.
[10]Zhang S W,Yu J C,Zhang A Q,Zhang F M.Spiraling motion of underwater gliders:Modeling,analysis,and experimental results[J].Ocean Engineering,2013,60:1-13.
[2]Wang S X,Sun X J,Wang Y H,Wu J G,Wang X M.Dynamic modeling and motion simulation for a winged hybriddriven underwater glider[J].Chinese Ocean Engineering,2011,25(1):97-112.
[3]Sun Q,Ma J,Yang H,Liu Y J.Nonlinear feed-forward control design for autonomous underwater glider based on stableinversion technique[J].Ship Science and Technology,2014,4:87-92,96.
[4]Bhatta P,Leonard N.Stabilization and coordination of underwater gliders[C]//In:Proceedings of the 41st IEEE Conference on Decision and Control.Las Vegas,Nevada,U.S.A.,2002,2:2081-2086.
[5]Leonard N,Graver J.Model-based feedback control of autonomous underwater gliders[J].IEEE Journal of Oceanic Engineering,2001,26(4):633-645.
[6]Fiorelli E,Leonard N,Bhatta P.Multi-AUV control and adaptive sampling in Monterey Bay[J].IEEE Journal of Oceanic Engineering,2006,31(4):935-948.
[7]Ge H,Xu D M,Zhou Q Y.Dynamic modeling of a low speed underwater vehicle based on moving mass control[J].Mechanical Science and Technology,2007,26(3):327-314.
[8]Cao J J,Cao J L,Yao B H,Lian L.Three dimensional model,hydrodynamics analysis and motion simulation of an underwater glider[C].IEEE of OCEANS in Genova,2015:1-8.
[9]Cao J L,Yao B H,Lian L.Nonlinear pitch control of an underwater glider based on adaptive backstepping approach[J].Journal of Shanghai Jiaotong University(Science),2015,20(6):729-734.
[10]Zhang S W,Yu J C,Zhang A Q,Zhang F M.Spiraling motion of underwater gliders:Modeling,analysis,and experimental results[J].Ocean Engineering,2013,60:1-13.