基于自抗扰控制的载人潜水器动力定位仿真研究

Simulation of ADRC Based Dynamic Positioning of Manned Submersible Vehicle

摘要:

针对载人潜水器(MSV)在不确定海洋环境中的动力定位问题,提出了一种线性扩张状态观测器与离散二阶系统最速反馈控制律相结合的线性自抗扰控制(LADRC)方案；先根据动力学原理,建立了带海流干扰的载人潜水器六自由度运动模型,然后再引入虚拟控制量,对模型进行了部分解耦,最后运用MATLAB软件,针对某载人潜水器进行了四自由度动力定位系统仿真实验,结果表明,使用该方法能快速且有效地抵御强海流干扰,满足了载人潜水器高精度悬停定位的要求。

Abstract:

In order to solve the dynamic positioning problem of Manned Submersible Vehicle (MSV) in the uncertain marine environment,a linear active disturbance rejection control(LADRC) scheme which combines the linear extended state observer with the discrete second order steepest feedback control is proposed.According to kinetic theory, a manned submersible motion model of six degrees of freedom with currents is established,then the model is partially decoupled by using virtual control variables. Finally,system simulations of dynamic positioning with four degree of freedom is conducted by using MATLAB software. The simulation results show that this method can resist the strong currents interference rapidly and effectively and also meet the requirement of station keeping on high precision. 