大连海事大学学报 >
2020 , Vol. 46 >Issue 2: 17 - 25
DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2020.02.003
基于ADRC参数优化的拖曳式水下航行器
收稿日期: 2019-09-01
修回日期: 2019-12-12
网络出版日期: 2019-12-12
基金资助
船舶动力工程技术交通运输行业重点实验室开发基金项目(KLMPET2018-2)；中央高校基本科研业务费专项资金资助项目(2019Ⅲ046GX).
Depth control of towed underwater vehicle based on ADRC parameter optimization
Received date: 2019-09-01
Revised date: 2019-12-12
Online published: 2019-12-12
Supported by
针对拖曳式水下航行器(Towed Underwater Vehicle，TUV)深度控制存在的两个主要问题，一是系统非线性很强，建模分析困难，二是由于受到牵引力和外界环境的干扰，导致深度难以实现精准控制。对于问题一，提出在一定假设条件下，先建立系统运动的非线性精确模型，然后进行适当的简化、求解的方案来解决。对于问题二，采用基于遗传算法优化的自抗扰控制器(Active Disturbance Rejection Control，ADRC)替代PID控制器，并利用遗传算法优化其参数选择，通过控制航行器翼角以提高航行器深度的控制精度；最后，对系统在变速、定深等不同工况下，进行仿真模拟实验。实验结果表明，拖缆模型简化求解以及控制策略均有效可行。改进后的自抗扰控制器与PID控制器相比，控制精度更高，并且操作频率较低，提高了系统的控制品质。
高国章 , 张家赫 . 基于ADRC参数优化的拖曳式水下航行器[J]. 大连海事大学学报, 2020 , 46(2) : 17 -25 . DOI: 10.16411/j.cnki.issn1006-7736.2020.02.003
Two main problems in the depth control of the towed underwater vehicle (TUV):consist of the strong nonlinearity of the system resulting in the difficulty of modeling and analysis, and the difficulty of accurate depth control due to the interference of the traction and external environment. For first problem, it was proposed that the nonlinear accurate model of the system motion was established firstly, and then the appropriate simplification were carried out to solve it. For the second problem, the active disturbance rejection controller(ADRC) based on genetic algorithm was used to replace PID controller, and genetic algorithm was used to optimize its parameter selection, and the control accuracy of the depth of vehicle was improved by controlling the wing angle of the vehicle. Finally, the simulation experiments were carried out for the system under different conditions, such as variable speed, fixed depth and so on. The experimental results show that the simplified solution of the towing model and the control strategy are effective and feasible. As compared with PID controller, the improved ADRC has higher control accuracy and lower operating frequency, which improves the control quality of the system.
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