近水面作业的机器人综合减摇机理研究
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摘要
水下机器人在近水面作业时,由于受到海浪、海风、海流等海洋环境扰动的作用,会产生横摇、纵摇等摇荡运动。水下机器人的剧烈摇荡将严重影响机器人的正常作业,甚至还会影响到其安全性。为此,人们一直在寻求减小水下机器人近水面作业时的摇荡运动和控制近水面机器人姿态平衡的方法,并设计出多种近水面作业的水下机器人运动控制系统,比如含有PID控制器、模糊控制器、神经网络控制器和变结构控制器等的运动控制系统。
在一定条件下,滑动模对于干扰与参数的变化具有不变性,这是具有滑动模的变结构系统的一个非常重要的特征。正是因为这一特征,这些年来,在解决十分复杂的非线性系统的综合问题时,变结构控制系统理论作为一种综合方法得到重视。因此本文选择变结构控制系统对近水面作业的水下机器人的运动进行控制。
本文重点研究设计可控正则型的多输入非线性系统模型的变结构控制器,利用分散滑动模态控制的方法将可控正则型系统进行合理分解,分解成若干个子系统,再对各个子系统分别进行变结构控制器的设计,采用极点配置法设计切换函数,采用等速趋近率来削弱抖振。对于设计近水面作业的机器人系统的变结构控制器,先将原系统进行可控正则化后,再按照这一方法设计变结构控制器。
在MATLAB SIMULINK软件环境下,对近水面作业的水下机器人控制系统进行仿真,仿真结果表明,本文所设计的控制系统综合减摇取得了较好的减摇效果,而且系统抖振较弱,动态性能较好,控制精度也高,控制器既具有理想滑模的优点,又避免了它的缺点。为变结构控制器控制近水面作业的机器人综合减摇的提供了一定的理论支持。
The attitude and motion of the near-sea-surface robot will change obviously under the influence of ocean waves. Because the roll motion and the pitch motion will have a very negative effect on the near-sea-surface robot’s duty and safety, the methods to control the near-sea-surface robot’s attitude and reduce the roll and pitch motion are needed eagerly. And many methods have been found and already used to control the near-sea-surface robot, such as PID controller、fuzzy controller、neural network controller and variable structure controller.
The most important characteristic of the variable structure controller is that under some condition, the sliding mode is insensitive to the external disturbance and parameter variations. Just because of this characteristic, the variable structure control has been widely used to solve complex non-linear system problems. So the variable structure control is chosen as the method to control the position and attitude of the near-sea-surface robot in this paper.
In the paper, the method to design variable structure controller of the controllable regular multi-input nonlinear system is proposed. Firstly, the controllable regular multi-input nonlinear system is divided into some subsidiary systems by a decentralized control strategy. Secondly, the variable structure controller of the subsidiary system is designed correspondingly. The pole placement method is used to design the switching function and the constant ration strategy is used to reduce the chattering phenomenon. So the variable structure controller of the near-sea-surface robot can be designed by this method.
The simulation of the near-sea-surface robot control system is carried out by MATLAB SIMULINK program. The simulation results show that, the control system designed in this paper do reduce the roll motion and pitch motion. And the system has satisfactory quality, much smaller chattering, the high performance dynamic characteristics and robustness. The design in this paper has provided that the variable structure controller is an effective measurement to control the motion of the near-sea-surface robot system and maintain the robot’s attitude effectively.
在一定条件下,滑动模对于干扰与参数的变化具有不变性,这是具有滑动模的变结构系统的一个非常重要的特征。正是因为这一特征,这些年来,在解决十分复杂的非线性系统的综合问题时,变结构控制系统理论作为一种综合方法得到重视。因此本文选择变结构控制系统对近水面作业的水下机器人的运动进行控制。
本文重点研究设计可控正则型的多输入非线性系统模型的变结构控制器,利用分散滑动模态控制的方法将可控正则型系统进行合理分解,分解成若干个子系统,再对各个子系统分别进行变结构控制器的设计,采用极点配置法设计切换函数,采用等速趋近率来削弱抖振。对于设计近水面作业的机器人系统的变结构控制器,先将原系统进行可控正则化后,再按照这一方法设计变结构控制器。
在MATLAB SIMULINK软件环境下,对近水面作业的水下机器人控制系统进行仿真,仿真结果表明,本文所设计的控制系统综合减摇取得了较好的减摇效果,而且系统抖振较弱,动态性能较好,控制精度也高,控制器既具有理想滑模的优点,又避免了它的缺点。为变结构控制器控制近水面作业的机器人综合减摇的提供了一定的理论支持。
The attitude and motion of the near-sea-surface robot will change obviously under the influence of ocean waves. Because the roll motion and the pitch motion will have a very negative effect on the near-sea-surface robot’s duty and safety, the methods to control the near-sea-surface robot’s attitude and reduce the roll and pitch motion are needed eagerly. And many methods have been found and already used to control the near-sea-surface robot, such as PID controller、fuzzy controller、neural network controller and variable structure controller.
The most important characteristic of the variable structure controller is that under some condition, the sliding mode is insensitive to the external disturbance and parameter variations. Just because of this characteristic, the variable structure control has been widely used to solve complex non-linear system problems. So the variable structure control is chosen as the method to control the position and attitude of the near-sea-surface robot in this paper.
In the paper, the method to design variable structure controller of the controllable regular multi-input nonlinear system is proposed. Firstly, the controllable regular multi-input nonlinear system is divided into some subsidiary systems by a decentralized control strategy. Secondly, the variable structure controller of the subsidiary system is designed correspondingly. The pole placement method is used to design the switching function and the constant ration strategy is used to reduce the chattering phenomenon. So the variable structure controller of the near-sea-surface robot can be designed by this method.
The simulation of the near-sea-surface robot control system is carried out by MATLAB SIMULINK program. The simulation results show that, the control system designed in this paper do reduce the roll motion and pitch motion. And the system has satisfactory quality, much smaller chattering, the high performance dynamic characteristics and robustness. The design in this paper has provided that the variable structure controller is an effective measurement to control the motion of the near-sea-surface robot system and maintain the robot’s attitude effectively.
引文
[1] Yuh,J. Modeling and control of underwater robotic vehicles. IEEE Transaction on System Man and CybernetiCs,1990,20(6):1475-1483 P
[2] Cristi,R. Papoulias,F.A. and Healey,A.J. Adaptive sliding mode control of autonomous underwater vehicles in the dive Plane. IEEE Journal Of Oceanic Engineering,1991,15(3):462-470 P
[3] Yuh.J. Design and Control of Autonomous Underwater Robots: A Survey. Autonomous Robots,2000(8):7-24 P
[4]李波.水下无人航行器发展研究.西安:西北工业大学,2001:5-11页
[5]金鸿章,綦志刚,罗延明,巩晋.基于Weis-Fogh机构的零航速减摇鳍升力模型的研究.系统仿真学报,2007,19(17):4079-4081页
[6]金鸿章,罗延明,綦志刚,杨洲城.基于Weis-Fogh机构的零航速减摇鳍升力特性研究.哈尔滨工程大学学报,2007,28(7):762-767页
[7]金鸿章,张晓飞,罗延明,李冬松.零航速减摇鳍升力模型研究.海洋工程,2007,25(3):83-87页
[8]金鸿章,王龙金,李冬松等.零航速减摇鳍升力模型分析及系统仿真研究.武汉理工大学学报(交通科学与工程版),2008,32(5):775-778页
[9]施生达.潜艇操纵性.北京:国防工业出版社,1995:15-36页
[10]刘金琨.先进PID控制MATLAB仿真.第2版.北京:电子工业出版社,2004
[11] R.K.Lea, R.Allen, S.L.Merry. A Comparative Study of Control Techniques for an Underwater Flight Vehicle. Int. J.System Science,1999(30),n9: 947-964 P
[12]汤兵勇,路林吉,王文杰.模糊控制理论与应用技术.北京:清华大学出版社,2002:1-5页
[13] Paul A. DeBitetto. Fuzzy logic for Depth Control of Unmanned Undersea Vehicles. IEEEE Journal of Oceanic Engineering,1995(20),n3:242-248 P
[14]谢俊元.载人遥控水下机器人运动模糊控制.软件开发与应用.1996年第4期:9-11页
[15]丛爽.面向MATLAB工具箱的神经网络理论与应用.合肥:中国科学技术大学出版社,2003:1-6页
[16]朱计华.水下机器人近水面运动的变结构控制技术研究.哈尔滨工程大学硕士学位论文.2007:3-5页
[17]胡跃明.变结构控制理论与应用.北京:科学出版社,2003:15-30页,55-60页
[18] Yoerger D.N and Slotine J.E Robust ttrajectory control of underwater vehicles. IEEE Journal of Oceanic Engineering,1985,QE-10(4):462-470 P
[19] Healey A.J and Leonard D. Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehieles. IEEE Journal of Ocean Engineering,1993,18(3):327-339 P
[20]戴学丰,边信黔.6自由度水下机器人运动轨迹滑模控制.计算技术与自动化,2000,19(2):68-71页
[21] Ming-Chung, Fang Pei-En Chang, Jhih-Hong Luo. Wave effects on ascending and descending motions of the autonomous underwater vehicle. OCEAN ENGINEERING,2006,33(2006):1972-1999 P
[22]金鸿章,姚绪梁.船舶控制原理.哈尔滨:哈尔滨工程大学出版社,2001:1-3页,149-154页,155页,155-61页,49-57页
[23] Peter Michael Ostafichuk. AUV hydrodynamic and modeling for improved control. Canada: University of British Columbia.2004
[24]李晔,刘建成,徐玉如等.带翼水下机器人运动控制的动力学建模.机器人,2005,27(2):128-131页
[25] P.Krishnamurthy, F.Khorrami, S.Fujikawa. A Modeling Framework for Six Degree-of-Freedom Control of Unmanned Sea Surface Vehicles. 44th IEEE Conference on Decision and Control, and the European Control Conference,2005:2676-2681 P
[26]张瑾.水下运载器的操纵控制及其仿真模拟.上海交通大学硕士学位论文.2006:16页,18页
[27]孙伯起,缪泉明,冯学知等.潜艇近水面波浪力的数值计算方法.船舶力学,1997,1(1):21-26页
[28]金鸿章.长峰波随机海浪的实时仿真和频谱分析.船舶工程,1987(1):24-30页
[29]金鸿章,李国斌.船舶特种装置控制系统.北京:国防工业出版社,1995:203-211页
[30] Fang,M.C.,Lee,M.L.,Lee,C.K. The simulation of water shipping for a shop advancing in large longitudinal waves. Journal of Ship Research,1993, 37(2):126-137 P
[31] Li K C,Leung T P,and Hu Y M. Sliding mode control of distributed parameter systems. Automation,1994,30(12):1961-1966 P
[32] Bloch A M,and Drakunov S. Stabilization and tracking in the nonholonomic integrator via silding modes. Systems & Control Letters, 1996,29(2):91-99 P
[33]高为炳.变结构控制的理论及设计方法.北京:科学出版社,1998
[34]姚琼荟,黄继起,吴汉松.变结构控制系统.重庆:重庆大学出版社,1997
[35] Chung S C, and Lin C L. A general class of sliding surface for sliding mode c ontrol . IEEE Trans. on Auto. Contr,1998,43:115-119 P
[36]朱计华,苏玉民,李晔等.AUV近水面运动的积分变结构控制及仿真.系统仿真学报,2007,19(22):5321-5324页
[37]李朝阳,伍世虔等.分散滑模控制理论在自主式潜水器(AUV)控制中的应用.中国机械工程,1997,8(3):69-72页
[38]冯俊梅,连琏,葛彤.潜艇操纵控制方法的现状与发展.海洋工程,2005,23(1):114-120页
[39] F.FAHIMI. Non-linear model predictive formation control for groups of autonomous surface vessels. International Journal of Control,2007,80 (8):1248-1259 P
[40]李遵华,刑继峰等.基于Simulink的潜器在海浪中运动的实时仿真.船舶工程,2007,29(45):44-47页
[41] Lionel Lapierre, Bruno Jouvencel.Robust. Nonlinear Path-Following Control of an AUV. OCEANIC ENGINEERING,2008,33(2):89-102 P
[2] Cristi,R. Papoulias,F.A. and Healey,A.J. Adaptive sliding mode control of autonomous underwater vehicles in the dive Plane. IEEE Journal Of Oceanic Engineering,1991,15(3):462-470 P
[3] Yuh.J. Design and Control of Autonomous Underwater Robots: A Survey. Autonomous Robots,2000(8):7-24 P
[4]李波.水下无人航行器发展研究.西安:西北工业大学,2001:5-11页
[5]金鸿章,綦志刚,罗延明,巩晋.基于Weis-Fogh机构的零航速减摇鳍升力模型的研究.系统仿真学报,2007,19(17):4079-4081页
[6]金鸿章,罗延明,綦志刚,杨洲城.基于Weis-Fogh机构的零航速减摇鳍升力特性研究.哈尔滨工程大学学报,2007,28(7):762-767页
[7]金鸿章,张晓飞,罗延明,李冬松.零航速减摇鳍升力模型研究.海洋工程,2007,25(3):83-87页
[8]金鸿章,王龙金,李冬松等.零航速减摇鳍升力模型分析及系统仿真研究.武汉理工大学学报(交通科学与工程版),2008,32(5):775-778页
[9]施生达.潜艇操纵性.北京:国防工业出版社,1995:15-36页
[10]刘金琨.先进PID控制MATLAB仿真.第2版.北京:电子工业出版社,2004
[11] R.K.Lea, R.Allen, S.L.Merry. A Comparative Study of Control Techniques for an Underwater Flight Vehicle. Int. J.System Science,1999(30),n9: 947-964 P
[12]汤兵勇,路林吉,王文杰.模糊控制理论与应用技术.北京:清华大学出版社,2002:1-5页
[13] Paul A. DeBitetto. Fuzzy logic for Depth Control of Unmanned Undersea Vehicles. IEEEE Journal of Oceanic Engineering,1995(20),n3:242-248 P
[14]谢俊元.载人遥控水下机器人运动模糊控制.软件开发与应用.1996年第4期:9-11页
[15]丛爽.面向MATLAB工具箱的神经网络理论与应用.合肥:中国科学技术大学出版社,2003:1-6页
[16]朱计华.水下机器人近水面运动的变结构控制技术研究.哈尔滨工程大学硕士学位论文.2007:3-5页
[17]胡跃明.变结构控制理论与应用.北京:科学出版社,2003:15-30页,55-60页
[18] Yoerger D.N and Slotine J.E Robust ttrajectory control of underwater vehicles. IEEE Journal of Oceanic Engineering,1985,QE-10(4):462-470 P
[19] Healey A.J and Leonard D. Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehieles. IEEE Journal of Ocean Engineering,1993,18(3):327-339 P
[20]戴学丰,边信黔.6自由度水下机器人运动轨迹滑模控制.计算技术与自动化,2000,19(2):68-71页
[21] Ming-Chung, Fang Pei-En Chang, Jhih-Hong Luo. Wave effects on ascending and descending motions of the autonomous underwater vehicle. OCEAN ENGINEERING,2006,33(2006):1972-1999 P
[22]金鸿章,姚绪梁.船舶控制原理.哈尔滨:哈尔滨工程大学出版社,2001:1-3页,149-154页,155页,155-61页,49-57页
[23] Peter Michael Ostafichuk. AUV hydrodynamic and modeling for improved control. Canada: University of British Columbia.2004
[24]李晔,刘建成,徐玉如等.带翼水下机器人运动控制的动力学建模.机器人,2005,27(2):128-131页
[25] P.Krishnamurthy, F.Khorrami, S.Fujikawa. A Modeling Framework for Six Degree-of-Freedom Control of Unmanned Sea Surface Vehicles. 44th IEEE Conference on Decision and Control, and the European Control Conference,2005:2676-2681 P
[26]张瑾.水下运载器的操纵控制及其仿真模拟.上海交通大学硕士学位论文.2006:16页,18页
[27]孙伯起,缪泉明,冯学知等.潜艇近水面波浪力的数值计算方法.船舶力学,1997,1(1):21-26页
[28]金鸿章.长峰波随机海浪的实时仿真和频谱分析.船舶工程,1987(1):24-30页
[29]金鸿章,李国斌.船舶特种装置控制系统.北京:国防工业出版社,1995:203-211页
[30] Fang,M.C.,Lee,M.L.,Lee,C.K. The simulation of water shipping for a shop advancing in large longitudinal waves. Journal of Ship Research,1993, 37(2):126-137 P
[31] Li K C,Leung T P,and Hu Y M. Sliding mode control of distributed parameter systems. Automation,1994,30(12):1961-1966 P
[32] Bloch A M,and Drakunov S. Stabilization and tracking in the nonholonomic integrator via silding modes. Systems & Control Letters, 1996,29(2):91-99 P
[33]高为炳.变结构控制的理论及设计方法.北京:科学出版社,1998
[34]姚琼荟,黄继起,吴汉松.变结构控制系统.重庆:重庆大学出版社,1997
[35] Chung S C, and Lin C L. A general class of sliding surface for sliding mode c ontrol . IEEE Trans. on Auto. Contr,1998,43:115-119 P
[36]朱计华,苏玉民,李晔等.AUV近水面运动的积分变结构控制及仿真.系统仿真学报,2007,19(22):5321-5324页
[37]李朝阳,伍世虔等.分散滑模控制理论在自主式潜水器(AUV)控制中的应用.中国机械工程,1997,8(3):69-72页
[38]冯俊梅,连琏,葛彤.潜艇操纵控制方法的现状与发展.海洋工程,2005,23(1):114-120页
[39] F.FAHIMI. Non-linear model predictive formation control for groups of autonomous surface vessels. International Journal of Control,2007,80 (8):1248-1259 P
[40]李遵华,刑继峰等.基于Simulink的潜器在海浪中运动的实时仿真.船舶工程,2007,29(45):44-47页
[41] Lionel Lapierre, Bruno Jouvencel.Robust. Nonlinear Path-Following Control of an AUV. OCEANIC ENGINEERING,2008,33(2):89-102 P